Work device

Abstract

The present invention provides a work device (B) capable of driving a working vehicle (A) as necessary and sufficiently, while alleviating a burden thereon.　This work device comprises: a frame structure (8) that includes a connection portion (80) connectable to a traveling vehicle; a rotary work body (6) that is pivotally supported by the frame structure (8), the rotary work body (6) being rotatable around an axis extending in the width direction of the traveling vehicle; and an engine (7a) that rotationally drives the rotary work body (6). The output of the engine (7a) is directly or indirectly transmitted to the rotary work body (6).

Description

Work equipment

[0001] The present invention relates to a work device that is connected to and supported by a work vehicle and that is equipped with a rotating work body that performs a predetermined task.

[0002] Conventionally, work vehicles such as tractors have been equipped with a driving motor, a coupling mechanism that couples a work implement that performs work while the vehicle is traveling, and a PTO mechanism that extracts the power of the driving motor and transmits the power of the motor to the work implement coupled to the coupling mechanism. As a result, the work implement coupled to the work vehicle operates by receiving the power of the driving motor of the work vehicle and performs a predetermined task (for example, plowing or cleaning).

[0003] Japanese Patent Publication No. 2023-159517

[0004] However, when the power output of the prime mover is transmitted to the working device via the PTO mechanism as described above, power transmission loss occurs due to the influence of mechanical resistance, etc., resulting in low energy efficiency. Furthermore, to ensure sufficient power output through the PTO mechanism, the driving load of the prime mover increases to compensate for the transmission loss.

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

[0006] The working device of the present invention comprises a frame structure including a connecting portion that can be connected to a traveling vehicle, a rotating working body journaled on the frame structure and rotatable around an axis extending in the width direction of the traveling vehicle, and a prime mover that drives the rotating working body to rotate, and the output of the prime mover is transmitted directly or indirectly to the rotating working body.

[0007] In one aspect of the present invention, the output of the prime mover may be transmitted directly or indirectly to one of both end portions of the rotating working body in the width direction.

[0008] In another aspect of the present invention, the working device may include a drive transmission mechanism that transmits the output of the prime mover to the rotating working body, the prime mover having an output shaft, and the drive transmission mechanism may transmit the rotation of the output shaft to the one end of the rotating working body.

[0009] In another aspect of the present invention, the rotating working body may have a shaft portion at one end centered on the axis line, the prime mover may be arranged with the output shaft parallel or approximately parallel to the shaft portion, and the drive transmission mechanism may have a group of gears including an output gear attached to the output shaft and an input gear attached to the shaft portion and meshing directly or indirectly with the output gear.

[0010] In yet another aspect of the present invention, the rotating working body may have a shaft portion at one end centered on the axis line, the prime mover may be arranged with the output shaft parallel or approximately parallel to the shaft portion, and the drive transmission mechanism may include an output sprocket attached to the output shaft, an input sprocket attached to the shaft portion, and a chain wound around the output sprocket and the input sprocket.

[0011] In yet another aspect of the present invention, the frame structure may include a support frame extending in the width direction and a pair of support parts extending downward from both ends of the support frame, the rotating working body being positioned below the support frame, both ends of the rotating working body being supported by the pair of support parts, and the prime mover being attached to the support frame or one of the support parts.

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

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

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

[0015] In yet another aspect of the present invention, the working device may comprise a rotating disk body that is positioned ahead of the skid when the traveling vehicle is traveling, and that is rotatable around an inclined axis that is closer to the vehicle center line that passes through the center of the traveling vehicle in the width direction and that is more upwardly oriented toward the rear side in the traveling direction of the traveling vehicle.

[0016] The prime mover may be disposed at a position that overlaps the rotating working body in a projected manner when viewed from a direction perpendicular to the width direction of the traveling vehicle.

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

[0018] According to the present invention, the load on the work vehicle can be reduced while still being able to drive it as required and sufficiently.

[0019] FIG. 1 is a side view of a working device according to one embodiment (first embodiment) of the first invention (present invention) of the present application, showing the device coupled to a work vehicle. FIG. 2 is a plan view of the work vehicle and working device shown in FIG. 1. FIG. 3 is a side view of the working device according to the first embodiment, showing an enlarged side view including a coupling device of the work vehicle to which the working device is coupled. FIG. 4 is a schematic cross-sectional view of an actuator of a coupling device that couples working devices according to the first embodiment. FIG. 5 is a schematic front view of a coupling frame of a coupling device that couples working devices according to the first embodiment. FIG. 6 is a schematic side view of a coupling frame of a coupling device that couples working devices according to the first embodiment. FIG. 7 is an enlarged cross-sectional view of section VII in FIG. 5. FIG. 8 is a schematic configuration diagram of an electrical system of a work vehicle to which a working device according to the first embodiment is coupled. FIG. 9 is an explanatory diagram showing a working state of the working device according to the first embodiment. FIG. 10 is an explanatory diagram of the operation of the coupling device that couples working devices according to the first embodiment, showing a state when a pair of lower links are raised and lowered in the same direction in synchronization. FIG. 11 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which a pair of lower links are synchronously raised and lowered in opposite directions. FIG. 12 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which a pair of lower links are synchronously raised and lowered in opposite directions. FIG. 13 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which one lower link is raised. FIG. 14 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which the other lower link is raised. FIG. 15 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which one lower link is lowered. FIG. 16 is an explanatory diagram of the operation of the coupling device for coupling working apparatuses according to the first embodiment, illustrating a state in which the other lower link is lowered. FIG. 17 is a schematic cross-sectional view of the working apparatus according to the first embodiment, taken along the XVII-XVII cross section of FIG. 1. Figure 18 is a schematic cross-sectional view of another type of working device coupled to a work vehicle, and Figure 19 is a schematic cross-sectional view of the working device shown in Figure 18, taken along line XIX-XIX in Figure 18.FIG. 20 is a schematic cross-sectional view of a working device according to another embodiment of the first invention (the present invention) of the present application. FIG. 21 is a schematic cross-sectional view of a working device according to another embodiment of the first invention (the present invention) of the present application. FIG. 22 is a schematic cross-sectional view of a working device according to yet another embodiment of the first invention (the present invention) of the present application. FIG. 23 is an explanatory diagram illustrating the arrangement of the components of a working device according to yet another embodiment of the first invention (the present invention) of the present application. FIG. 24 is a schematic cross-sectional view of a working device having the arrangement of the components shown in FIG. 23. FIG. 25 is a schematic cross-sectional view of a working device according to another embodiment of the present invention that can be coupled to a work vehicle. FIG. 26 is a schematic cross-sectional view of a working device according to yet another embodiment of the present invention that can be coupled to a work vehicle. FIG. 27 is a schematic side view of a working device according to yet another embodiment of the first invention (the present invention). FIG. 28 is a left side view of a work vehicle according to an embodiment (second embodiment) of the second invention of the present application. FIG. 29 is a top view of the work vehicle according to the second embodiment. FIG. 30 is a rear perspective view of the link mechanism and the movement mechanism according to the second embodiment. FIG. 31 is a rear perspective view of the link mechanism according to the second embodiment. FIG. 32 is a rear perspective view of the hitch frame of the second embodiment. FIG. 33 is a rear view of the hitch frame. FIG. 34 is a partial cross-sectional view from above showing the periphery of the mounting portion of the auxiliary prime mover of the second embodiment. FIG. 35 is a partial cross-sectional view from the side showing the periphery of the mounting portion of the auxiliary prime mover of the second embodiment. FIG. 36 is a side view of an agricultural machine according to an embodiment (third embodiment) of the third invention of the present application. FIG. 37 is a block diagram showing an outline of the configuration of the agricultural machine of the third embodiment. FIG. 38 is a perspective view of a lifting device of the third embodiment. FIG. 39A is an example showing the operation of the lifting device of the third embodiment. FIG. 39B is another example showing the operation of the lifting device of the third embodiment. FIG. 39C is another example showing the operation of the lifting device of the third embodiment. FIG. 40A is a diagram explaining the operating state of the tilling implement of the third embodiment. FIG. 40B is a diagram explaining the non-operating state of the tilling implement of the third embodiment. Fig. 40C is a diagram showing the trajectory of the lowest point when transitioning from a working state to a non-working state in the third embodiment. Fig. 40D is a diagram explaining the problem of the third invention (third embodiment). Fig. 41A is a diagram showing the relationship between the height from the ground to the tillage implement and the rotation speed of the tillage tines in the tillage implement of the third embodiment.FIG. 41B is a diagram showing another example of the relationship between the height of the tillage implement from the ground and the rotational speed of the tillage tines in the tillage implement of the third embodiment. FIG. 41C is a diagram showing an example of a conversion map of the third embodiment. FIG. 42 is a basic flowchart of the third embodiment. FIG. 43 is a flowchart showing an example of the judgment conditions for the lowering process of the third embodiment. FIG. 44 is a diagram explaining the field map and the planned travel route of the third embodiment. FIG. 45 is a flowchart showing an example of the judgment conditions for the lowering process according to a first modified example of the third invention of the present application. FIG. 46 is a flowchart showing an example of the judgment conditions for the lowering process according to a second modified example of the third invention of the present application. FIG. 47 is a flowchart showing an example of the judgment conditions for the lowering process according to a third modified example of the third invention of the present application. FIG. 48 is a flowchart showing another example of the judgment conditions for the lowering process according to the third modified example of the third invention of the present application. FIG. 49 is a flowchart showing an example of the judgment conditions for the lowering process according to a fourth modified example of the third invention of the present application. FIG. 50 is a flowchart showing another example of the determination conditions for the reduction process according to the fourth modified example of the third aspect of the present invention.

[0020] A working device according to one embodiment (hereinafter referred to as the first embodiment) of the first invention (present invention) of the present application will be described below with reference to the drawings. In the following description, the working vehicle to which the working device is coupled and the working device B coupled to the working vehicle will be described separately.

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

[0022] More specifically, the work vehicle A comprises a vehicle body 1, a traveling device 3 that supports the vehicle body 1 so that it can travel, and a connecting mechanism 2 that connects and supports a working device B. The work vehicle A also comprises a control device 4 that controls the operation of the traveling device 3 and the working device B. Furthermore, as shown in Figure 2, the work vehicle A also comprises an attitude detection device 5 that detects the tilt (attitude) of the vehicle body 1 in a direction perpendicular to the direction in which the vehicle body 1 travels straight (forward or backward in a straight line) and the up-down direction.

[0023] In the following description, the direction in which the vehicle body 1 moves straight (straight forward or backward) and the corresponding direction will be referred to as the "first direction," the side in which the vehicle body 1 (work vehicle A) moves forward in the first direction will be referred to as the "forward," and the side in which the vehicle body 1 (work vehicle A) moves backward in the first direction will be referred to as the "rear." Furthermore, the direction perpendicular to the "front-rear direction" and the up-down direction (the direction corresponding to the vehicle width of the vehicle body 1) will be referred to as the "second direction." In line with this definition of direction, the up-down direction will be referred to as the "third direction." Furthermore, because the working device B is coupled to the work vehicle A, the above definition will be used in the description of the working device B, based on the state when coupled to the work vehicle A. Accordingly, in each drawing, the first direction, second direction, and third direction are additionally illustrated using two orthogonal axes.

[0024] 1, the vehicle body 1 has a driver's seat 10 in which a worker sits, and a driver's seat protection mechanism 11 that covers the driver's seat 10. The work vehicle A (vehicle body 1) has an operation device (hereinafter referred to as a first operation device) 12 for operating the traveling device 3, a display device 13 that displays various information, etc. Furthermore, since a work device B is coupled to the work vehicle A according to the first embodiment, the vehicle body 1 has an operation device (hereinafter referred to as a second operation device) 14 for operating the coupled work device B.

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

[0026] 1 and 2 , in the first embodiment, the traveling device 3 has a traveling engine 30, drive wheels 31 that receive drive from the traveling engine 30, and steering wheels 32 that determine the traveling direction. An internal combustion engine or an electric motor is used as the traveling engine 30. In the first embodiment, a diesel engine, which is an internal combustion engine, is used as the traveling engine 30. The traveling engine 30 is disposed in front of the driver's seat protection mechanism 11.

[0027] Specifically, work vehicle A is equipped with a hood 15 that defines a motor housing compartment ER that houses a traveling motor 30. The hood 15 is disposed in front of the driver's seat protection mechanism 11 (driver's cab DR) and in a position (lower than the lower end of the front windshield FW) that does not obstruct the view of the worker from inside the driver's seat protection mechanism 11 (driver's cab DR). Accordingly, by disposing the traveling motor 30 inside the hood 15 (inside the motor housing compartment ER), the traveling motor 30 is disposed in front of the driver's seat protection mechanism 11 (driver's cab DR) and in a position (lower than the lower end of the front windshield FW) that does not obstruct the view of the worker from inside the driver's seat protection mechanism 11 (driver's cab DR).

[0028] When an electric motor is used for the traveling prime mover 30, the work vehicle A is equipped with a battery that stores electricity to be supplied to the electric motor that serves as the traveling prime mover 30, a generator that generates electricity to be stored in the battery, and an internal combustion engine that drives the generator for generating electricity. Note that, in addition to diesel engines, gasoline engines, hydrogen engines, etc. may also be used for the internal combustion engine that serves as the traveling prime mover 30 and the internal combustion engine that serves as the generator.

[0029] As shown in FIG. 1, the first operating device 12 includes a handle 12a for steering the steering wheels 32, an accelerator device 12b for operating the output of the drive wheels 31 (traveling motor 30), and the like.

[0030] The display device 13 displays various types of information. That is, the display device 13 displays information about the work vehicle A and information about the coupled work device B. In the first embodiment, a touch panel monitor is used for the display device 13, and necessary information can also be input.

[0031] The second operating device 14 is used by the worker to operate the connecting mechanism 2 and the working apparatus B. That is, the second operating device 14 is operated by the worker to operate the connecting mechanism 2 and the working apparatus B (e.g., the working apparatus B equipped with the prime mover 7a). The second operating device 14 is electrically connected to the control device 4 (see FIG. 8 ). Accordingly, the second operating device 14 outputs the operation performed by the worker as an electrical signal to the control device 4. The second operating device 14 may be configured as any one of various switches such as a joystick, a dial switch, a lever switch, or a slide switch, or as a combination of two or more of these switches. Furthermore, when a touch panel monitor is used as the display device 13 as in the first embodiment, the display device 13 may also serve as the second operating device 14.

[0032] 2 and 3, the connecting mechanism 2 is connected to (attached to) the vehicle body 1. In the first embodiment, the connecting mechanism 2 is attached to the rear of the vehicle body 1 (behind the driver's seat protection mechanism 11).

[0033] Specifically, the connecting mechanism 2 includes a pair of lower links 20R, 20L each having a first end 20a and a second end 20b opposite the first end 20a rotatably connected around an axis extending in the second direction relative to the vehicle body 1, the pair of lower links 20R, 20L being spaced apart in the second direction, with the working device B being directly or indirectly connected to the second end 20b, and a pair of actuators 21R, 21L arranged corresponding to each of the pair of lower links 20R, 20L, each of which swings (rotates) the corresponding lower link 20R, 20L around the first end 20a (axis).

[0034] In addition to the above configuration, the connecting mechanism 2 includes an upper link 22 disposed above the pair of lower links 20R, 20L. In the first embodiment, the connecting mechanism 2 includes a pair of hooking members 23R, 23L capable of hooking a working device B, the pair of hooking members 23R, 23L being connected to second end portions 20b, 20b of the pair of lower links 20R, 20L, respectively. The connecting mechanism 2 also includes a connecting frame 24 connecting the second end portions 20b, 20b of the pair of lower links 20R, 20L, the connecting frame 24 including hooking portions 25 capable of hooking a working device B. As shown in FIG. 3 , the connecting mechanism 2 includes a pair of angle sensors S3, S3 disposed corresponding to the pair of lower links 20R, 20L, respectively, that detect the rotation angles of the pair of lower links 20R, 20L about their respective rotation (swing) centers.

[0035] In the first embodiment, the connecting mechanism 2 is connected to the rear of the vehicle body 1, and therefore the pair of lower links 20R, 20L and the upper link 22 each extend in a direction from the rear of the vehicle body 1.

[0036] 2, the pair of lower links 20R, 20L are disposed symmetrically with respect to an imaginary plane VS (hereinafter referred to as an imaginary reference plane) that extends in the first and third directions along a vehicle body centerline CL (hereinafter referred to as the front-to-rear centerline) that extends in the first direction at the center of the vehicle body 1 in the second direction. A first end portion 20a and a second end portion 20b of each of the pair of lower links 20R, 20L extend straight in the first direction. The first end portion 20a of each of the pair of lower links 20R, 20L is pivotally connected to the vehicle body 1 via a shaft that extends in the second direction and is rotatable about the shaft (the axis extending in the second direction).

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

[0038] As shown in FIG. 3 , each of the pair of lower links 20R, 20L has a plurality of coupling positions H1, H2 that couple the corresponding actuators 21R, 21L. Specifically, a plurality of pin insertion holes H1 are formed in the straight portion 20d of each of the pair of lower links 20R, 20L, into which pins for coupling the actuators 21R, 21L are inserted. Each of the plurality of pin insertion holes H1 is a through-hole that penetrates in the second direction. The plurality of pin insertion holes H1 (coupling positions) are arranged at predetermined intervals in the direction in which the straight portion 20d extends.

[0039] Each of the hooking members 23R, 23L has a notch 230R, 230L that is open upward and recessed downward, into which the shaft 242 of the connecting frame 24 or a lower connecting shaft 85 (described later) of the working device B can be fitted from above. In the first embodiment, the notch 230R, 230L of the hooking members 23R, 23L corresponds to the shaft 242 of the connecting frame 24.

[0040] The upper link 22 is disposed above the pair of lower links 20R, 20L. The upper link 22 is disposed between the pair of lower links 20R, 20L in the second direction. Specifically, there is only one upper link 22, and the upper link 22 is disposed so as to overlap with the fore-and-aft centerline CL in the third direction (on the imaginary reference plane VS). The upper link 22 extends in one direction and has a base end 22a and a tip end 22b in one direction (longitudinal direction). The base end 22a of the upper link 22 is connected to the vehicle body 1 to be rotatable about an axis extending in the second direction. The tip end 22b of the upper link 22 is directly or indirectly connected to the working device B. In the first embodiment, the tip end of the upper link 22 has a notch 22c into which a rod extending in the second direction can be fitted. As a result, the tip 22b of the upper link 22 can be directly or indirectly connected to the working device B in a hooked state by fitting the locking pin 243b (described later) of the hooking portion 25 of the connecting frame 24 or the upper connecting shaft 87 (described later) of the connecting portion 80 of the working device B into the cutout portion 22c.

[0041] The pair of actuators 21R, 21L can be operated independently. Each of the pair of actuators 21R, 21L is a cylinder device configured to be able to extend and retract in one direction. In the first embodiment, each of the pair of actuators 21R, 21L is a cylinder device having an electric motor 26 that drives the actuator to extend and retract, as shown in FIG.

[0042] Specifically, the pair of actuators (cylinder devices) 21R, 21L include fluid cylinders 27 that expand and contract by supplying and discharging fluid.

[0043] The fluid cylinder 27 includes a cylindrical cylinder tube 270 and a piston rod 271 including a rod-shaped rod 271a and a piston 271b connected to one end of the rod 271a. The piston 271b is housed within the cylinder tube 270, and the other end of the rod 271a protrudes from one end of the cylinder tube 270. The fluid cylinder 27 extends and retracts as a whole by injecting and evacuating fluid between one end and the other end of the cylinder tube 270, with the piston 271b as the boundary. In the first embodiment, the fluid injected and evacuated between one end and the other end of the cylinder tube 270 is oil (hydraulic oil). That is, in the first embodiment, the fluid cylinder 27 is a hydraulic cylinder.

[0044] Furthermore, the cylinder devices 21R, 21L are equipped with a hydraulic system 28 including an electric motor 26 and a hydraulic cylinder (fluid cylinder) 27, as well as a hydraulic pump 280 that feeds and discharges hydraulic oil to and from one end and the other end of a cylinder tube 270 of the hydraulic cylinder 27. That is, the cylinder devices 21R, 21L are electric hydraulic cylinders in which the hydraulic cylinder 27, the hydraulic system 28, and the electric motor 26 that drives the hydraulic pump 280 of the hydraulic system 28 are integrated (packaged).

[0045] Although there are various types of hydraulic pumps 280, a gear pump is used in the first embodiment. The hydraulic system 28 includes a first oil passage 281 that connects the hydraulic pump 280 to one end of the cylinder tube 270, and a second oil passage 282 that connects the hydraulic pump 280 to the other end of the cylinder tube 270.

[0046] In this type of cylinder, the volume (maximum volume) of one end of the cylinder tube 270, separated by the piston 271b, and the volume (maximum volume) of the other end differ depending on whether the rod 271a of the piston rod 271 is present. Therefore, the maximum volume of hydraulic oil supplied to the other end of the cylinder tube 270 where the rod 271a is not present is greater than the maximum volume of hydraulic oil supplied to the one end of the cylinder tube 270 where the rod 271a is present. To resolve this volume imbalance, a hydraulic oil reservoir 283 is provided in the first oil passage 281 connecting the one end of the cylinder tube 270 to the hydraulic pump 280, storing hydraulic oil to compensate for the volume difference. Although not specifically shown here, pressure adjustment valves, safety valves (relief valves), and the like are also appropriately provided in the first oil passage 281 and the second oil passage 282 to balance pressure, etc.

[0047] Because the cylinder devices 21R, 21L according to the first embodiment employ a gear pump for the hydraulic pump 280, hydraulic oil at one end of the cylinder tube 270, separated by the piston 271b, flows back and forth between the piston 271b and the other end thereof by switching the electric motor 26 between forward and reverse rotation. Specifically, when the electric motor 26 is driven to rotate in one direction about the output shaft (hereinafter referred to as forward rotation), the hydraulic pump 280 draws in hydraulic oil from the second oil passage 282 and discharges it to the first oil passage 281. When the electric motor 26 is driven to rotate in the other direction about the output shaft (hereinafter referred to as reverse rotation), the hydraulic pump 280 draws in hydraulic oil from the first oil passage 281 and discharges it to the second oil passage 282. That is, when the electric motor 26 is driven in the forward direction, the hydraulic cylinder 27 retracts the rod 271a and contracts. When the electric motor 26 is driven in the reverse direction, the hydraulic cylinder 27 extends the rod 271a and projects it.

[0048] 2, each of the pair of actuators 21R, 21L is disposed symmetrically with respect to the imaginary reference plane VS, similar to the pair of lower links 20R, 20L. Each of the pair of actuators 21R, 21L is disposed so as to straddle the corresponding lower link 20R, 20L and the vehicle body 1, and both ends of the pair of actuators 21R, 21L in one direction (the extension / contraction direction) are connected to the lower link 20R, 20L and the vehicle body 1.

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

[0050] At least one of the lower links 20R, 20L and the actuators 21R, 21L (hydraulic cylinders 27 of the electric hydraulic cylinders 21R, 21L) has a plurality of coupling positions H1, H2 at which the lower links 20R, 20L and the actuators 21R, 21L (hydraulic cylinders 27 of the electric hydraulic cylinders 21R, 21L) can be coupled to at least one other of the lower links 20R, 20L and the actuators 21R, 21L (hydraulic cylinders 27 of the electric hydraulic cylinders 21R, 21L). In the first embodiment, as described above, a plurality of coupling positions (pin insertion holes that are through holes) H1 are provided on the straight portions 20d of the lower links 20R, 20L. However, in the first embodiment, a plurality of coupling positions (through holes) H2 are also provided on the actuators 21R, 21L (hydraulic cylinders 27 of the electric hydraulic cylinders 21R, 21L). That is, a plurality of coupling positions H2 for coupling the lower links 20R, 20L and the actuators 21R, 21L to each other are provided.

[0051] In the first embodiment, the hydraulic cylinder 27 includes a connecting fitting 29 at the rod end RE. The connecting fitting 29 has a plurality of through holes H2 that are spaced apart in the extension direction (axial direction) of the piston rod 271 (rod 271 a). With one of the through holes H2 in the connecting fitting 29 aligned with one of the plurality of pin insertion holes (through holes) H1 in the lower links 20R, 20L, a pin (shaft) is inserted (fitted) into both through holes H1, H2, thereby connecting the connecting fitting 29 (electric hydraulic cylinders 21R, 21L) to the lower links 20R, 20L.

[0052] As described above, by drilling a plurality of through holes H1, H2 in each of lower links 20R, 20L (straight portions 20d) and connecting fitting 29, coupling positions H1, H2 between lower links 20R, 20L and actuators 21R, 21L can be combined. This allows the respective postures of the pair of lower links 20R, 20L (angles about the axis pivotally connecting first end portions 20a) to be changed. As described above, connecting mechanism 2 includes angle sensors S3, S3. The angle sensors S3, S3 are provided corresponding to the first end portions 20a (pivotally connected axes) that serve as the rotation centers of the pair of lower links 20R, 20L. As a result, even if the respective postures (angles) of the pair of lower links 20R, 20L are changed, the current postures (angles) of the pair of lower links 20R, 20L can be recognized from the detection results of angle sensors S3, S3.

[0053] 5 and 6 , both end portions of connecting frame 24 in the second direction are supported by second end portions 20b (hook members 23R, 23L) of each of the pair of lower links 20R, 20L via spherical bearings 240. Specifically, connecting frame 24 includes a frame main body 241 that extends in the second direction and straddles the pair of lower links 20R, 20L, and a pair of shaft portions 242, 242 connected to both end portions of frame main body 241, each of which extends in the second direction. Connecting frame 24 also includes a hook portion 25 that can hook working device B. More specifically, connecting frame 24 includes, as hook portion 25, a pair of lower hook portions 25a, 25a that are spaced apart in the second direction. Furthermore, the connecting frame 24 includes an upper hook portion 25b that can hook the working device B between the pair of lower hook portions 25a, 25a and above the pair of lower hook portions 25a, 25a.

[0054] The frame main body 241 is curved so that its approximate center in the second direction protrudes upward. An upper link connecting portion 243 to which the tip end 22b of the upper link 22 is connected is provided at the center (top) of the frame main body 241. The upper link connecting portion 243 includes a pair of brackets 243a, 243a protruding upward from the top surface of the frame main body 241 and spaced apart in the second direction, and a shaft-shaped locking pin 243b extending in the second direction and connected at both ends to the pair of brackets 243a, 243a. The axial center of the locking pin 243b coincides with the center position of the frame main body 241. Thus, the connecting frame 24 is connected to the upper link 22 by the locking pin 243b being locked to the tip end of the upper link 22.

[0055] The lower hook portions 25a, 25a of the connecting frame 24 are provided at both ends of the frame main body 241. As a result, the pair of lower hook portions 25a, 25a are spaced apart in the second direction, similar to the pair of hook members 23R, 23L attached to the second ends 20b of the pair of lower links 20R, 20L. That is, the pair of lower hook portions 25a, 25a are spaced apart in the second direction and are symmetrically arranged with respect to the imaginary reference plane VS. Each of the pair of lower hook portions 25a, 25a has a lower notch 250a that is a recess that opens toward the rear and is dug downward toward the front. The lower notch 250a is configured to allow a shaft extending in the second direction to be inserted therein, and is formed so that the shaft can be hooked by positioning the shaft on the front side. The connecting frame 24 has a retaining member 251a that can move in and out of the lower cutout 250a of the lower hook 25a and can lock onto a shaft located deep inside the lower hook 25a.

[0056] The upper hook portion 25b is a recess that opens upward and has an upper cutout 250b that is dug downward. In the first embodiment, a pair of brackets 243a, 243a of the upper link connecting portion 243 extends rearward from the frame main body 241. The upper cutout 250b is formed by opening upward and dug downward relative to the rearward extending portions of the pair of brackets 243a, 243a. In other words, the pair of brackets 243a, 243a of the upper link connecting portion 243 also serves as the upper hook portion 25b. Therefore, the upper hook portion 25b is located in the center of the vehicle body 1 in the second direction. In other words, the upper hook portion 25b is located in an intermediate position between the pair of lower hook portions 25a, 25a located below in the second direction.

[0057] As shown in Figure 7, each of the pair of shaft portions 242, 242 includes a shaft body 244 that protrudes outward from the outward-facing side surfaces at both ends of the frame main body 241, and a spherical bearing 240 attached to the shaft body 244. The spherical bearing 240 has an inner ring 240a into which the shaft body 244 is inserted, and an outer ring 240b that is fitted onto the inner ring 240a. The outer peripheral surfaces of the inner ring 240a and the outer ring 240b are formed into spherical surfaces with their centers aligned. This allows the shaft portions 242, 242 (inner ring 240a) and the outer ring 240b to rotate freely relative to the outer ring 240b, with the center (point) of the spherical surface serving as the center of rotation.

[0058] In the first embodiment, the shaft portions 242, 242 are hooked to the corresponding hook members 23R, 23L of the lower links 20R, 20L. That is, the outer rings 240b of the shaft portions 242, 242 are hooked in contact with the hook members 23R, 23L. In this state, the shaft body 244 is rotatable together with the inner ring 240a around the center (point) of the spherical surface. Note that, although the first embodiment employs a spherical bearing 240 including the outer ring 240b, the shaft body 244 may be inserted into an annular bearing (e.g., an oil-free bearing) with a spherical outer circumferential surface (spherical bearing 240). In this case, the spherical outer circumferential surface of the bearing contacts and is supported (hooked) by the hook members 23R, 23L, so that the shaft body 244 (bearing) rotates on the hook members 23R, 23L around the center (point) of the spherical surface. Furthermore, if the shaft body 244 is rotatably inserted into the bearing, the shaft body 244 can also rotate around its own axis.

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

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

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

[0062] Specifically, the input unit 42 is connected to the first operating device 12, the second operating device 14, the attitude detection device 5 that detects the tilt (attitude) of the vehicle body 1 in the second direction, the angle sensors S3, S3, and a receiver 16 that receives a wireless signal from a transmitter 96 (described later). On the other hand, the output unit 43 is connected to the electric hydraulic cylinders 21R, 21L (electric motor 26) of the linkage mechanism 2, a power line EL1 that supplies power to the working device B, and the like. In the first embodiment, the display device 13 is a touch panel monitor, and is therefore connected to the input unit 42 and the output unit 43 to transmit and receive information to and from the control device 4 (arithmetic and control unit 40). Although the placement of the receiver 16 has not been mentioned, the receiver 16 (strictly speaking, the antenna of the receiver 16) is placed in a location where communication with the transmitter 96 is not obstructed (for example, on the roof of the driver's seat protection mechanism (cabin) 11) (see FIGS. 1 and 2 ). In addition, in FIG. 8 , the electric motor 26 and the power line EL1 are directly connected to the output section 43, but strictly speaking, a relay (electric hydraulic cylinder relay) that opens and closes the power output system (circuit connecting the battery and the electric motor 26) that supplies power to the electric hydraulic cylinders 21R, 21L (electric motor 26), and a relay (circuit opening and closing relay) that opens and closes the power output system (external output circuit) that supplies power to the working device B are connected to the output section 43.

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

[0064] Accordingly, prior to starting work, when working with a cultivator as the work implement B, the worker determines whether or not the automatic tilling depth function is required by operating the second operating device 14 or the touch panel monitor (display device) 13. When working with the first work implement B or another work implement B, the worker determines whether or not the posture maintenance function is required, as necessary, by operating the second operating device 14 or the touch panel (display device 13).

[0065] When the control device 4 receives a signal indicating that the automatic tillage depth function is to be activated, the control device 4 moves the rotary 6 up and down depending on the state of penetration (depth from the ground surface GL) of the rotary 6 into the soil, as shown in FIG. 9 , thereby maintaining a constant state of penetration (depth from the ground surface GL) of the rotary 6 into the soil. Specifically, the control device 4 determines the current tillage depth based on information regarding the tillage depth of the cultivator. In the first embodiment, the work vehicle A receives, via the receiver 16, information regarding the detection results (tillage depth state) of the detection sensor 95 transmitted from a transmitter 96 (transmitter 96 paired with the receiver 16 of the work vehicle A) equipped on the work implement B. The work vehicle A determines the current tillage depth based on the received detection results of the detection sensor 95. The control device 4 then calculates the difference between the determined current tillage depth and a preset tillage depth of the soil.

[0066] Furthermore, the control device 4 raises and lowers the working device B so as to eliminate any difference from a preset soil tillage depth. That is, the control device 4 drives the electric motors 26 of the pair of actuators 21R, 21L so as to raise and lower the pair of lower links 20R, 20L together in synchronization in accordance with the difference from the preset soil tillage depth (height difference). That is, the control device 4 drives the electric motors 26 of the pair of actuators 21R, 21L in synchronization. As a result, as shown in FIG. 10 , the pair of actuators 21R, 21L expand and contract in synchronization, and the pair of lower links 20R, 20L also rise and lower in synchronization. At this time, the control device 4 raises and lowers the pair of lower links 20R, 20L by an amount of lift corresponding to the detection result (inclination angle with respect to horizontal) of the attitude detection device 5. That is, the control device 4 drives the electric motors 26 of the actuators 21R, 21L until the detection result (amount of change in angle) of the angle sensors S3, S3 reaches a required state (angle). As a result, the work implement B moves while maintaining the relative positional relationship (height relationship) between the rotary 6 and the ground surface GL of the field, etc. In other words, the penetration state of the rotary 6 into the soil (depth from the ground surface GL) becomes constant, and even when plowing work is performed while traveling with the work vehicle A, plowing can be performed at a preset tillage depth based on the ground surface GL.

[0067] Then, when the control device 4 receives a signal to activate the posture maintenance function, when the work vehicle A starts moving, it recognizes the posture of the vehicle body 1 (tilt angle in the second direction) based on the detection results from the posture detection device 5.

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

[0069] The sensors S1, S2 disposed at two locations in the second direction of the vehicle body 1 may be, for example, an altitude sensor, a barometric pressure sensor, etc. Accordingly, the control device 4 calculates the angle of the vehicle body 1 in the second direction based on the elevations of the two locations in the second direction, and calculates the difference between the attitude of the vehicle body 1 (the tilt angle of the vehicle body 1 in the second direction) and the horizontal. As described above, if the attitude detection device 5 includes a gyro sensor, it can detect the tilt (angle) of the vehicle body 1 in the second direction in addition to the fore-and-aft tilt (angle) of the vehicle body 1, and the control device 4 can recognize the state of the vehicle body 1 (tilt in the second direction) based on the detection result of the gyro sensor (attitude detection device 5).

[0070] The control device 4 also recognizes the amount of change in the up-down direction at each of two locations in the second direction of the vehicle body 1 using the attitude detection device 5. This allows the control device 4 to determine the change in attitude (tilt) of the vehicle body 1, such as the extent to which the vehicle body 1 has risen and fallen on both the left and right sides in the second direction and tilted around the longitudinal center line CL, the extent to which either the left or right side of the vehicle body 1 in the second direction has sunk and tilted, or the extent to which either the left or right side of the vehicle body 1 in the second direction has risen and tilted.

[0071] Then, based on the above-described determination result, the control device 4 raises and lowers the pair of lower links 20R, 20L of the connecting mechanism 2. That is, based on the determination result, the control device 4 drives the electric motors 26 of the pair of actuators 21R, 21L (electric hydraulic cylinders 21R, 21L) to extend and retract the hydraulic cylinders 27 of the pair of actuators 21R, 21L.

[0072] In the first embodiment, there are multiple combinations of coupling positions H1, H2 between the actuator and lower links 20R, 20L, and therefore the angles (postures) of lower links 20R, 20L vary depending on the combination of coupling positions H1, H2. When the angles of lower links 20R, 20L vary in this way, the height of the coupling position of working device B also varies, and the reference posture (angle) of lower links 20R, 20L, which serves as the reference for raising and lowering lower links 20R, 20L, also changes.

[0073] Accordingly, the control device 4 recognizes the angle (posture) of the lower links 20R, 20L from the detection results of the angle sensors S3, S3. The control device 4 also recognizes the amount of elevation of the lower links 20R, 20L from the detection results (rotation angle) of the angle sensors S3, S3.

[0074] Furthermore, as described above, when the vehicle body 1 tilts in the second direction, the attitude of the working device B located at the rear of the vehicle body 1 tilts in accordance with the vehicle body 1, which changes the relative position (attitude) with respect to the ground. Therefore, the control device 4 drives the electric motors 26 of the pair of actuators 21R, 21L independently.

[0075] Specifically, when the control device 4 determines that the vehicle body 1 has tilted about the longitudinal centerline CL due to the degree of ups and downs of the left and right sides of the vehicle body 1 in the second direction, the control device 4 drives the pair of actuators 21R, 21L in opposite directions depending on the amount of ups and downs of the left and right sides. That is, the control device 4 drives the electric motor 26 of one of the actuators 21R in the forward direction and drives the electric motor 26 of the other of the actuators 21L in the reverse direction. Accordingly, as shown in FIGS. 11 and 12 , one of the lower links 20R, 20L rises and the other of the lower links 20R, 20L descends. As a result, the working device B rotates on both the left and right sides about the longitudinal centerline CL (second direction) as the center (reference) and maintains a horizontal posture.

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

[0077] Furthermore, when the control device 4 determines how much one of the left and right sides of the vehicle body 1 in the second direction has lifted up and tilted, it drives one of the actuators 21R according to the amount of lift. That is, the control device 4 reversely drives the electric motor 26 of one of the actuators 21R. Accordingly, as shown in FIGS. 15 and 16 , one of the lower links 20R, 20L lowers. That is, the working device B lowers either the left or right side (the side that is at risk of lifting up) engaged with one of the lower links 20R, 20L, using the second end 20b of one of the lower links 20R, 20L as a fulcrum, and maintains it in a horizontal position.

[0078] In this way, by independently driving the pair of left and right actuators 21R, 21L, the posture of the working device B is not only corrected in accordance with the tilt of the vehicle body 1, but also the correction corresponds to the cause of the tilt of the vehicle body 1, so that the working device B is restored to an appropriate posture taking into account the condition of the vehicle body 1.

[0079] As described above, when the pair of lower links 20R, 20L are raised and lowered independently, twisting occurs in the connecting frame 24 that is supported (hooked) by the pair of lower links 20R, 20L. However, in the first embodiment, the shaft portions 601, 601 of the connecting frame 24 are equipped with the spherical bearings 240, and therefore the force (stress) caused by twisting associated with correcting the posture of the connecting frame 24 (frame main body 241) does not act significantly on the shaft portions 601, 601 (particularly the base of the shaft body 244).

[0080] Next, we will explain the working device B that is coupled to the work vehicle A. In explaining the working device B, for convenience, in line with the explanation of the work vehicle A, the direction in which the working device B, coupled to the work vehicle A, follows when the work vehicle A moves straight (forward or backward) (the direction in which the working device B moves straight) will be referred to as the first direction, and the direction perpendicular to the direction in which the working device B moves straight and the up-and-down direction will be referred to as the second direction. The up-and-down direction will also be referred to as the third direction.

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

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

[0083] The first working device B is a so-called rotary tiller, and drives the rotary 6 itself without receiving drive from the work vehicle A. That is, the first working device B is equipped with a prime mover 7a, as shown in FIG. 1 . This allows the first working device B to drive without being affected by the load or energy loss of the internal combustion engine (engine), which is the drive source of the work vehicle A. Furthermore, by having the first working device B itself equipped with the prime mover 7a, the load on the work vehicle A is reduced.

[0084] The first working device B is an electrically operated device that receives a supply of electric power from the work vehicle A. In other words, the prime mover 7a is an electric motor. The prime mover 7a is driven by receiving a supply of electric power from the work vehicle A. In a conventional first working device B, while connected to the connecting mechanism 2, it is mechanically connected to the output shaft of the PTO mechanism of the work vehicle A and receives the output of the engine, which is the prime mover (drive source) of the work vehicle A, via the PTO mechanism. However, the first working device B according to the first embodiment is not connected to the work vehicle A for power transmission, but is only electrically connected to the power storage element (battery) of the work vehicle A.

[0085] More specifically, as shown in FIGS. 3 and 17 , the first working device B includes a frame structure 8 including a coupling portion 80 that can be coupled to a work vehicle A, which is a travelable vehicle; a rotary 6 that is a rotating working body journaled on the frame structure 8 and that can rotate around an axis extending in the second direction; and a prime mover 7a that rotationally drives the rotary 6. The prime mover 7a has an output shaft 70a, and the output of the prime mover 7a (the rotational force of the output shaft 70a) is transmitted directly or indirectly to the rotary 6. In the first embodiment, the first working device B includes a drive transmission mechanism 7b that transmits the output of the prime mover 7a to the rotary 6. That is, in the first working device B, the output of the prime mover 7a is transmitted indirectly to the rotary 6 via the drive transmission mechanism 7b. The first working device B also includes a working body cover 9 that covers the rotary 6 (see FIG. 3 ).

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

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

[0088] The pair of lower connectors 80 a are spaced apart in the second direction. Specifically, each of the pair of lower connectors 80 a includes a plate-shaped lower bracket 84 extending forward in the first direction from the support frame 81, and a lower connector shaft 85 extending in the second direction from a side surface (the surface facing the second direction) of the lower bracket 84.

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

[0090] The pair of lower coupling parts 80a, 80a are arranged symmetrically with respect to a center line CL (see FIG. 2 ) extending in the first direction at the center position in the axial direction (second direction) of the rotary 6, and an imaginary plane VS extending in the first direction and the third direction along the center line CL that coincides or substantially coincides with an extension of the longitudinal center line CL of the vehicle body 1 when viewed from the third direction in a state where the rotary 6 is coupled to the work vehicle A. Note that the center line CL (center line CL of the working device B) extending in the first direction at the center position in the axial direction (second direction) of the rotary 6 extends in a direction different from the extension of the longitudinal center line CL of the vehicle body 1 when the working device B is not coupled to the work vehicle A, but here, assuming a state in which the working device B is coupled to the work vehicle A, for convenience, the center line CL passing through the center of the rotary 6 in the axial direction (second direction) will also be referred to as the longitudinal center line CL, and the imaginary plane VS that extends in the first direction and the third direction based on this will also be referred to as a virtual reference plane.

[0091] The lower connecting shafts 85 of the pair of lower connecting portions 80a, 80a correspond to the positions of the hook members 23R, 23L of the pair of lower links 20R, 20L or the pair of lower hook portions 25a, 25a of the connecting frame 24. The outer diameter of the lower connecting shafts 85 is set to fit into the recesses (notches 230R, 230L, lower notches 250a) of at least one of the hook members 23R, 23L and the hook portions 25. In other words, the lower connecting shafts 85 of each lower connecting portion 80a, 80a are positioned so as to be able to be hooked into the recesses (lower notches 250a) of the notches 230R, 230L of the hook members 23R, 23L of the corresponding lower links 20R, 20L or the corresponding hook portions 25 (lower hook portions 25a, 25a) of the connecting frame 24. In the first embodiment, the connecting mechanism 2 of the work vehicle A is equipped with the connecting frame 24, and therefore each lower connecting shaft 85 is set to an outer diameter that fits into the lower cutout 250a of the lower hook portion 25a.

[0092] The upper connector 80b is disposed between the pair of lower connectors 80a in the second direction. Specifically, the upper connector 80b is disposed in a position corresponding to the middle between the pair of lower connectors 80a in the second direction. In other words, the upper connector 80b is disposed in a position corresponding to the center of the rotary 6 in the axial direction (second direction).

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

[0094] In the first embodiment, the upper connecting portion 80b includes a pair of upper brackets 86, 86 spaced apart in the second direction. Each of the pair of upper brackets 86, 86 has one end and the other end opposite the one end, and the one end of each is connected to the support frame 81.

[0095] The pair of upper brackets 86, 86 are disposed at a distance that allows the tip end 22b of the upper link 22 to be interposed therebetween. The upper connecting shaft 87 is disposed on the other end side of the upper brackets 86, 86. The upper connecting shaft 87 is connected to a surface of the upper brackets 86, 86 facing the second direction and extends in the second direction. In the first embodiment, a pair of upper brackets 86, 86 is provided, and the upper connecting shaft 87 is disposed between the pair of upper brackets 86, 86 with its axis facing the second direction. Accordingly, one end of the upper connecting shaft 87 is connected to a side surface of one upper bracket 86, 86 facing one side in the second direction, and the other end of the upper connecting shaft 87 is connected to a side surface of the other upper bracket 86, 86 facing the other side in the second direction.

[0096] The axial center position of the upper connecting shaft 87 is located on the imaginary reference plane VS (a position corresponding to the front-to-rear center line CL when viewed from the third direction) (see FIG. 2). The upper connecting shaft 87 is located above the lower connecting parts 80a, 80a, and is located directly above the lower connecting parts 80a, 80a or further forward than the lower connecting parts 80a, 80a. In the first embodiment, the upper connecting shaft 87 is located further forward than the lower connecting parts 80a, 80a.

[0097] The upper connecting shaft 87 is disposed corresponding to the notch 22c in the tip end 22b of the upper link 22 or the upper notch 250b in the upper hook portion 25b of the connecting frame 24. The upper connecting shaft 87 has an outer diameter set to fit into the notch 22c in the tip end 22b of the upper link 22 or the upper notch 250b in the upper hook portion 25b of the connecting frame 24. In the first embodiment, the upper connecting shaft 87 has an outer diameter set to fit into the upper notch 250b of the connecting frame 24.

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

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

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

[0101] In the first embodiment, one of the support portions 82 is formed in a plate shape. The one of the support portions 82 is elongated in one direction, with one end in the longitudinal direction being an upper end located on the upper side and the other end in the longitudinal direction being a lower end located on the lower side (diagonally downward). The upper end of the one of the support portions 82 is connected to one end surface of the support frame 81. In the first embodiment, since the support frame 81 is formed in a cylindrical shape, the upper end of the one of the support portions 82 is connected (coupled) to the support frame 81 with one end opening of the support frame 81 closed.

[0102] A through-hole 821 for inserting the shaft 601 of the rotary 6 is drilled through the lower end of one of the support parts 82 in the second direction. Accordingly, a flange-type bearing unit 820, which is a bearing, is attached to the outer surface (the side surface in the second direction that faces outward) of the support part 82. The flange-type bearing unit 820 is fixed to one of the support parts 82 with bolts and is detachable from the one of the support parts 82. Note that the support part 82 may be provided with a reinforcing member (such as a rib) as appropriate to increase rigidity.

[0103] The other support part 83 also serves as a cover (case) that covers the drive transmission mechanism 7 b. Specifically, the other support part 83 includes a plate-shaped first member 831 connected to the other end of the support frame 81, a plate-shaped second member 832 that is spaced apart from the first member 831 in the second direction, and a third member 833 that closes the gap between the peripheral edge of the first member 831 and the peripheral edge of the second member 832, and the first member 831, the second member 832, and the third member 833 define an accommodation space that accommodates the drive transmission mechanism 7 b.

[0104] The first member 831 is elongated in one direction, with one longitudinal end being an upper end located on the upper side and the other longitudinal end being a lower end located on the lower side (diagonally downward). The length of the first member 831 in one direction is set to be longer than the length of one of the support portions 82 in one direction. Accordingly, the first member 831 is connected to the support frame 81 with its upper end positioned diagonally upward and forward from the support frame 81. Specifically, the first member 831 is integrally connected to the support frame 81 at an upper end side above the midpoint in one direction so that its upper end extends diagonally upward and forward from the support frame 81. Like one of the support portions 82, the first member 831 is connected (coupled) to the support frame 81 with the opening (other end opening) of the support frame 81 closed.

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

[0106] The through hole 821 and the second shaft insertion hole 831b of one support portion 82 are formed concentrically and of the same size. Taking into consideration the attachment and detachment of the rotary 6, at least one of the through hole 821 and the second shaft insertion hole 831b of one support portion 82 may be formed as a notch that opens in a direction perpendicular to the second direction. This makes it possible to remove the rotary 6 from the support portions 82 and 83 in a direction perpendicular to the axial direction without requiring that at least one of the pair of support portions 82 and 83 be detachable from the support frame 81. However, even if at least one of the through hole 821 and the second shaft insertion hole 831b of one support portion 82 is formed as a notch, the shaft portions 601 at both ends of the rotary 6 can be inserted concentrically.

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

[0108] The second member 832 is formed in a plate shape. In the first embodiment, the second member 832 is thinner than the first member 831. The second member 832 is formed to have the same shape and size as the first member 831 when viewed from the second direction. The second member 832 is arranged so that the peripheral edge of the second member 832 coincides with the peripheral edge of the first member 831 when viewed from the second direction. The third member 833 is formed by sheet metal processing and is formed to fit along the peripheral edges of the second member 832 and the first member 831. In the first embodiment, one end of the third member 833 in the second direction is connected to the peripheral edge of the second member 832. That is, the second member 832 and the third member 833 are integrally molded.

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

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

[0111] Accordingly, the rotary 6 has shaft portions 601, 601 at both ends, the shaft being centered on the axis. More specifically, the rotary 6 includes a rotary shaft 60 extending over the entire length in the second direction, and a plurality of tines 61 that are replaceably attached to the rotary shaft 60. Note that in Figure 17, of the plurality of tines 61, only the tines 61 arranged in the regions at both ends of the rotary shaft 60 are shown, and the tines 61 between them are not shown.

[0112] The rotating shaft 60 includes a main shaft portion 600 to which a plurality of tillage tines 61 are attached, and a pair of shaft portions 601, 601 that protrude outward in the second direction from both ends of the main shaft portion 600 and are concentric with the main shaft portion 600. In the first embodiment, the main shaft portion 600 is a hollow shaft formed in a cylindrical shape, and is lightweight.

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

[0114] One of the pair of shafts 601 is journalled to one of the pair of supports 82, 83 of the frame structure 8, and the other of the shafts 601 is journalled to the other of the pair of supports 82, 83 of the frame structure 8. The drive of the prime mover 7 a is transmitted to one of the shafts 601.

[0115] The pair of shaft portions 601, 601 are rotatably supported by bearings (flange-type bearing units) 820, 830 fixed to the pair of support portions 82, 83. Specifically, one shaft portion 601 passes through a through-hole 821 of one support portion 82 and is rotatably supported by the bearing (flange-type bearing unit) 820 fixed to the one support portion 82. In contrast, the other shaft portion 601 passes through a second shaft insertion hole 831b of a first member 831 of the other support portion 83 and is rotatably supported by a bearing (flange-type bearing unit) 830 fixed to the first member 831 of the other support portion 83. In this embodiment, the other shaft portion 601 passes through the bearing (flange-type bearing unit) 830 and has a length set to protrude outward from the bearing (flange-type bearing unit) 830 in order to mount an input sprocket 71b, which will be described later.

[0116] As described above, the prime mover 7a has the output shaft 70a. The prime mover 7a is disposed with the output shaft 70a parallel or approximately parallel to the axis of the rotary 6. That is, the prime mover 7a is disposed with the output shaft 70a parallel or approximately parallel to the shaft portion 601. In the first embodiment, the prime mover 7a is an electric motor. Accordingly, the first working device B is provided with a power line (cable) EL2 (see FIGS. 2 and 8 ) that supplies power to the prime mover (electric motor) 7a. The power line EL2 that supplies power to the prime mover 7a is connectable via a connector C to a power line EL1 of the work vehicle A, which is connected to the power output system (external output circuit) of the work vehicle A. As a result, the prime mover 7a is driven by receiving power from the work vehicle A via the power lines EL1 and EL2. As described above, in Figure 8, the power output system (external output circuit) is not shown, so the power line EL2 of the first working device B is connected to the power line EL1 that is connected to the output section 43 of the control device 4, but strictly speaking, the power line EL1 of the work vehicle A has a portion that connects the control device 4 to a relay that opens and closes the power output system (external output circuit), and a portion that connects the power output system (external output circuit) that is opened and closed by the relay to the connector C, and the power line EL2 of the first working device B is electrically connected to the power output system via the connector C.

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

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

[0119] The prime mover 7a has a casing (a casing containing a rotor and the like that is continuous with the output shaft 70a) in contact with or close to a first member 831 that constitutes the other support part 83 (cover). Accordingly, the output shaft 70a of the prime mover 7a protrudes from the first member 831 into the accommodation space that accommodates the drive transmission mechanism 7b.

[0120] In the first embodiment, the drive transmission mechanism 7b includes an output sprocket 71a attached to the output shaft 70a of the prime mover 7a, an input sprocket 71b attached to the other shaft portion 601 of the rotary 6, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b. Accordingly, the input sprocket 71b is attached to a portion of the other shaft portion 601 of the rotary 6 that protrudes from the bearing 830. Alternatively, the drive transmission mechanism 7b may include a gear group including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601, which directly or indirectly meshes with the output gear. When the distance between the output gear and the input gear is large (when the output gear and the input gear cannot directly mesh with each other), an intermediate gear can be provided between the output gear and the input gear to transmit the output of the prime mover 7a to the rotary 6. That is, when a group of gears is used in the drive transmission mechanism 7b, it is only necessary to make it possible to transmit the output (rotational force) of the output gear to the input gear directly or indirectly.

[0121] As described above, the output shaft 70a of the prime mover 7a and the other shaft portion 601 of the rotary 6 are located between the first member 831 and the second member 832 (protruding into the accommodation space that accommodates the drive transmission mechanism 7b), so the drive transmission mechanism 7b is covered by the other support portion 83 (cover). Furthermore, when the prime mover 7a is driven to rotate, the drive transmission mechanism 7b transmits the output of the prime mover 7a to the rotary 6 (shaft portions 601, 601), causing the rotary 6 to rotate.

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

[0123] In consideration of this, the first working device B is provided with a skid 75 that is arranged below the drive transmission mechanism 7b. Accordingly, the first working device B according to the first embodiment is provided with a rotating disk 76 that is arranged in a position ahead of the skid 75 when the work vehicle A is traveling.

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

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

[0126] The skid body 751 is formed in a sled shape so that it can move in contact with the ground surface of a field or the like. Specifically, the skid body 751 is formed in a plate shape and extends in the traveling direction (straight direction) of the work vehicle A, and is inclined upward at least at the leading end of the traveling direction as it approaches the leading end of the traveling direction. In the first embodiment, taking into account that the work vehicle A moves forward and backward, the skid body 751 is inclined upward as it approaches the leading end of the traveling direction when the work vehicle A moves forward, and is inclined upward as it approaches the leading end of the traveling direction when the work vehicle A moves backward. In other words, both ends of the skid body 751 in one direction are inclined upward. In the first embodiment, the lower ends of the pair of support legs 750 are connected to the upper surface of the skid body 751 so that the skid body 751 is located below the other support part 83. As a result, even if the weight of the drive transmission mechanism 7b of the prime mover 7a acts biasedly on one end side of the rotary 6, causing the first working device B to tilt towards one end side of the rotary 6, the skid 75 comes into contact with the ground surface, preventing the tilt.

[0127] In the first embodiment, the rotating disc body 76 is disposed in a position preceding the skid 75 when the work vehicle A moves forward. In other words, the rotating disc body 76 is disposed in front of the skid 75 (on the work implement B side). The rotating disc body 76 is rotatable around an inclined axis line that is on the side of the longitudinal center line CL that passes through the center of the work vehicle A in the second direction and that rises towards the rear of the work vehicle A.

[0128] Specifically, it comprises a support shaft portion 77a that rotatably supports the rotating disk body 76, and a support pillar portion 77b that supports the disk body (support shaft portion 77a) while keeping the relative height positions of the rotating disk body 76 and the skid 75 constant.

[0129] The center line (axis) of the support shaft 77a is an inclined axis that rises toward the front-to-rear center line CL that passes through the center of the work vehicle A in the second direction and toward the rear in the direction of travel of the work vehicle A. That is, the support shaft 77a is inclined and rises toward the front-to-rear center line CL that passes through the center of the work vehicle A in the second direction and toward the rear in the direction of travel of the work vehicle A, and a rotating disk 76 is rotatably attached to the tip of the support shaft 77a. The support pillar 77b extends in the vertical direction. The lower end of the support pillar 77b is connected to the skid 75, and the upper end of the support pillar 77b is connected to the support shaft 77a. In the first embodiment, the support pillar 77b is formed in a rod shape. Accordingly, the support shaft 77a and the support pillar 77b are formed integrally. As a result, when the work implement B moves forward, the rotating disc 76 moves ahead of the skid 75, and at the same time, it rotates about the tilt axis while in contact with the ground, breaking up (softening) the surface layer of the soil. This reduces the movement resistance when the trailing skid 75 moves in contact with the ground relative to the rotating disc 76, allowing for smooth movement.

[0130] Specifically, the place where the work device B works is often not on snow but on soil mixed with clods of soil and stones, and even if the skid 75 is shaped like a sled, contact with clods of soil or stones will increase resistance to movement. However, as described above, by having the rotating disk 76 contact the surface layer of the soil before the skid 75, not only does the surface layer of soil become softer, but stones are also removed (pushed aside) from the area where the skid 75 passes and clods of soil are crushed. This ensures smooth movement of the skid 75.

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

[0132] Both the main cover 90 and the detection cover 91 are made of sheet metal. The main cover 90 and the detection cover 91 are aligned in the first direction, with the detection cover 91 tilting downward from the main cover 90 toward the rear in the first direction. Specifically, the detection cover 91 is connected to the main cover 90 via a hinge 92. That is, the front end of the detection cover 91, which is located on the front side in the first direction, is connected to the rear end of the main cover 90, which is located on the rear side in the first direction, so as to be rotatable about an axis extending in the second direction. This allows the detection cover 91 to swing freely, and the rear end of the detection cover 91, which is located on the rear side in the first direction, to move up and down. The rear end of the detection cover 91 comes into contact with the soil surface during tillage work and serves to level the soil surface.

[0133] In the first embodiment, the first working device B is equipped with a detection cover adjustment mechanism 93 for changing the posture of the detection cover 91. That is, the first working device B is equipped with the detection cover adjustment mechanism 93 for changing the height of the rear end of the detection cover 91. The detection cover adjustment mechanism 93 maintains the detection cover 91 in a swingable state at a desired posture (inclination). That is, the detection cover adjustment mechanism 93 maintains the detection cover 91 in a swingable state while maintaining the rear end of the detection cover 91 at a desired position (height). Furthermore, the first working device B is equipped with a detection sensor 95 for determining the height of the rear end of the detection cover 91 in order to realize an automatic tilling depth function in the work vehicle A. Furthermore, in the first embodiment, the first working device B is equipped with a transmitter 96 for transmitting the detection results of the detection sensor 95 to the receiver 16 of the work vehicle A.

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

[0135] Accordingly, the control device 4 of the work vehicle A calculates the vertical movement (amount of movement) of the rear end of the detection cover 91 based on the detection results (angle information) from the detection sensor (angle sensor) 95. When the transmitter 96 receives power supply, it pairs with the receiver 16 of the work vehicle A. Accordingly, the first work device B is provided with a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line, like the power line connected to the prime mover 7a (electric motor 26), is connectable to the power output system (external output circuit) of the work vehicle A by a connector.

[0136] Next, we will explain another type of working device (hereinafter referred to as the second working device for convenience) that is coupled to the work vehicle A. In the following explanation, components that are common to (identical to) or equivalent to the components of the first working device B will be given the same names and symbols. In addition, the definitions of directions and the like will be the same as those of the first working device B.

[0137] 18 and 19 , the second working device B is a cage roller type tiller that has a cage roller 6 as a rotating working body that can rotate around an axis that extends in the second direction. The second working device B is a driven type tiller in which the cage roller 6 is rotated by the work vehicle A traveling with the cage roller 6 in contact with the ground surface (in a grounded state). Accordingly, unlike the first working device B, the second working device B does not have a prime mover 7a.

[0138] More specifically, the second work device B comprises a frame structure 8 including a coupling portion 80 that can be coupled to a work vehicle A, which is a travelable vehicle, and a cage roller 6 that is a rotating work body journaled on the frame structure 8 and that can rotate around an axis that extends in the second direction of the work vehicle A. Furthermore, the second work device B according to the first embodiment comprises a tilling device 78 that is positioned ahead of the cage roller 6 when the work vehicle A is traveling. The second work device B also comprises a work body cover 9 that covers the cage roller 6.

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

[0140] The connecting portion 80 includes a pair of lower connecting portions 80a, 80a that correspond to the hook members 23R, 23L of the pair of lower links 20R, 20L on the work vehicle A side or the pair of lower hook portions 25a, 25a of the connecting frame 24 (in the drawing, the hook members 23R, 23L of the pair of lower links 20R, 20L). In the first embodiment, the connecting portion 80 also includes an upper connecting portion 80b that corresponds to the tip end of the upper link 22.

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

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

[0143] The pair of lower connecting portions 80a, 80a are disposed symmetrically with respect to the imaginary reference plane VS. The lower connecting shafts 85 of the pair of lower connecting portions 80a, 80a correspond to the positions of the hook members 23R, 23L of the pair of lower links 20R, 20L or the pair of lower hook portions 25a, 25a of the connecting frame 24. The lower connecting shafts 85 have an outer diameter that fits into the recesses of at least one of the hook members 23R, 23L and the lower hook portions 25a, 25a. In other words, the lower connecting shafts 85 of each lower connecting portion 80a, 80a are disposed so as to be able to be hooked into the recesses (lower notches 250a) of the hook members 23R, 23L of the corresponding lower links 20R, 20L or the corresponding lower hook portions 25a, 25a of the connecting frame 24. In the first embodiment, the lower connecting shaft 85 of each lower connecting portion 80a is configured to be able to be hooked to the hook members 23R, 23L of the corresponding lower links 20R, 20L. Similar to the shaft portion 242 of the connecting frame 24, the lower connecting shaft 85 includes a shaft body connected to the lower bracket 84 and a spherical bearing fitted onto the shaft body.

[0144] The upper connector 80b is disposed between the pair of lower connectors 80a in the second direction. Specifically, the upper connector 80b is disposed in correspondence with the intermediate position between the pair of lower connectors 80a in the second direction. In other words, the upper connector 80b is disposed in correspondence with the center of the cage roller 6 in the axial direction (second direction).

[0145] More specifically, the upper connecting portion 80b includes plate-shaped upper brackets 86, 86 extending from the support frame 81 in a direction perpendicular to the second direction (toward the forward direction corresponding to the forward movement direction of the work vehicle A), and an upper connecting shaft 87 extending in the second direction from the side of the upper brackets 86, 86 (the surface facing the second direction).

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

[0147] The pair of upper brackets 86, 86 are arranged with a gap therebetween that allows the tip of the upper link 22 to be interposed therebetween. The upper connecting shaft 87 is arranged on the other end side of the upper brackets 86, 86. The upper connecting shaft 87 is connected to the surface of the upper brackets 86, 86 that faces the second direction, and extends in the second direction. In the first embodiment, since a pair of upper brackets 86, 86 is provided, the upper connecting shaft 87 is arranged between the pair of upper brackets 86, 86 with its axis facing the second direction.

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

[0149] The upper connecting shaft 87 is disposed corresponding to the notch 22c in the tip end 22b of the upper link 22 or the upper notch 250b in the upper hook portion 25b of the connecting frame 24. The upper connecting shaft 87 has an outer diameter set to fit into the notch 22c in the tip end 22b of the upper link 22 or the upper notch 250b in the upper hook portion 25b of the connecting frame 24. In the first embodiment, the upper connecting shaft 87 has an outer diameter set to fit into the notch 22c in the tip end 22b of the upper link 22.

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

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

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

[0153] In the first embodiment, the pair of support portions 82, 83 are formed in a plate shape. Each of the pair of support portions 82, 83 is elongated in one direction, with one longitudinal end portion being an upper end portion located on the upper side and the other longitudinal end portion being a lower end portion located on the lower side (diagonally downward). The upper end portion of one support portion 82 is connected to one end surface of the support frame 81. The upper end portion of the other support portion 83 is connected to the other end surface of the support frame 81. In the first embodiment, since the support frame 81 is formed in a cylindrical shape, the respective upper ends of the pair of support portions 82, 83 are connected (coupled) to the support frame 81 with the opening of the support frame 81 closed.

[0154] Through holes 821, 831b are drilled in the second direction at the lower ends of the pair of supports 82, 83, respectively, for inserting the shafts 601, 601 of the cage rollers 6. Accordingly, flange-type bearing units 820, 830 are attached to the outer surfaces (side surfaces in the second direction, facing outward) of the pair of supports 82, 83, respectively. The flange-type bearing units 820, 830 are bolted to the supports 82, 83 and are detachable from the supports 82, 83. Note that when the supports 82, 83 are plate-shaped as in the first embodiment, reinforcing members (ribs, etc.) may be provided as appropriate to reinforce the supports 82, 83 (to increase their rigidity).

[0155] The cage rollers 6 are disposed below the support frame 81. In the first embodiment, the cage rollers 6 are disposed diagonally below and behind the support frame 81. As described above, since the frame structure 8 includes the pair of support portions 82, 83, both ends of the cage rollers 6 are supported by the pair of support portions 82, 83.

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

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

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

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

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

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

[0162] The tilling device 78 has a support member 781 that supports the tilling members 780 and is attached directly or indirectly to the frame structure 8. The support member 781 extends in the vertical direction, and the tilling member (soiler) 780 is attached to its lower end. In the first embodiment, the support member 781 is formed in a rectangular column shape. Since the tilling device 78 has multiple tilling members 780, the support member 781 has multiple support members 781 corresponding to the number of tilling members 780. In other words, a support member 781 is provided for each tilling member 780. The support member 781 is attached to the frame structure 8 so as to be slidable in the vertical direction, allowing the height position of the tilling members 780 to be adjusted.

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

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

[0165] The fixing bracket 783 is formed in a U-shape when viewed from the second direction. Specifically, the fixing bracket 783 includes a pair of first arms 783a, 783a spaced apart in the up-down direction, each extending in the first direction, and a second arm 783b connecting one end of the pair of first arms 783a, 783a. The pair of first arms 783a, 783a and the second arm 783b are formed in a plate shape. Accordingly, in the fixing bracket 783 according to the first embodiment, the pair of first arms 783a, 783a and the second arm 783b are formed continuously and integrally by bending a metal plate into a U-shape.

[0166] The length in the first direction of the pair of first pieces 783a, 783a is set to a length extending forward from the mounting bar 782 with the mounting bar 782 interposed between the pair of first pieces 783a, 783a. Each of the pair of first pieces 783a, 783a has a hole 784 through which the support member 781 is inserted vertically. As described above, because the support member 781 is formed in a square tube shape, the holes 784 of the first pieces 783a, 783a are square holes that match the cross-sectional shape of the support member 781.

[0167] A male screw member S is threadedly engaged with the second piece 783b, which urges the mounting bar 782 located between the pair of first pieces 783a, 783a, forward. By tightening the male screw member S and urging the mounting bar 782, the fixing bracket 783 retracts the pair of first pieces 783a, 783a rearward. In conjunction with this, the support member 781 inserted through the holes in the pair of first pieces 783a, 783a is also retracted rearward and pressed against the mounting bar 782. In this way, the fixing bracket 783 secures the support member 781 and the tilling member 780 connected to the support member 781 in a fixed position. Furthermore, by loosening the male screw member S and releasing the pressure contact of the support member 781 against the mounting bar 782, the fixing bracket 783 allows the support member 781 to move up and down.

[0168] As a result, the fixing brackets 783 enable height adjustment of the tilling members 780 connected to the support member 781. In the first embodiment, a fixing bracket 783 is provided corresponding to each of the multiple tilling members 780. That is, the second work implement B includes multiple fixing brackets 783. Accordingly, the multiple fixing brackets 783 are fitted to the mounting bar 782 while lined up in the second direction. As a result, the second work implement B according to the first embodiment is capable of individually fixing and adjusting the height of each tilling member 780. Note that a single fixing bracket 783 may be formed by adjusting the width of the fixing bracket 783 in the second direction to correspond to the length of the mounting bar 782, and multiple holes (holes for inserting the support member 781) may be provided in each of the pair of first pieces 783a, 783a at intervals in the second direction. In this manner, fixing and position adjustment of the multiple support members 781 (tilling members 780) can be performed with fewer steps. In this case, it goes without saying that it is preferable to arrange a plurality of male screw members S in the second direction in order to ensure a pulling force on the plurality of support members 781.

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

[0170] The detection cover 91 and the extension cover 94 are both made of sheet metal. The detection cover 91 and the extension cover 94 are aligned in the first direction, and the detection cover 91 slopes downward from the position covering the top of the cage roller 6 toward the rear. Specifically, the detection cover 91 is connected to the frame structure 8 (support frame 81) via a hinge 92. That is, the front end of the detection cover 91, which is located on the front side in the first direction, is connected to the rear portion of the support frame 81 in the first direction so as to be rotatable about an axis extending in the second direction. This allows the detection cover 91 to swing freely, and the rear end of the detection cover 91, which is located on the rear side in the first direction, can move up and down. In the first embodiment, the rear end of the extension cover 94 comes into contact with the soil surface during tillage work and serves to level the soil surface.

[0171] In the first embodiment, the second work device B is equipped with a detection cover adjustment mechanism 93 for changing the posture of the detection cover 91. That is, the second work device B is equipped with a detection cover adjustment mechanism 93 for changing the height of the rear end of the detection cover 91. The detection cover adjustment mechanism 93 maintains the detection cover 91 in a swingable state at a desired posture (inclination). That is, the detection cover adjustment mechanism 93 maintains the detection cover 91 in a swingable state while maintaining the rear end of the detection cover 91 at a desired position (height). Furthermore, the second work device B is equipped with a detection sensor 95 for determining the height of the rear end of the detection cover 91 in order to realize an automatic tillage depth function in the work vehicle A. Furthermore, in the first embodiment, the second work device B is equipped with a transmitter 96 for transmitting the detection results of the detection sensor 95 to the receiver 16 of the work vehicle A.

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

[0173] Accordingly, the control device 4 of the work vehicle A calculates the vertical movement (amount of movement) of the rear end of the detection cover 91 based on the detection results (angle information) from the detection sensor (angle sensor) 95. When the transmitter 96 receives power supply, it pairs with the receiver 16 of the work vehicle A. Accordingly, the second work device B is provided with a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line, like the power line connected to the prime mover 7a (electric motor 26), is connectable to the power output system (external output circuit) of the work vehicle A by a connector.

[0174] The detection sensor 95 is an angle sensor that detects the inclination (angle) of the detection cover 91. As described above, the control device 4 of the work vehicle A is configured to calculate the vertical movement (amount of movement) of the rear end of the detection cover 91 based on the detection results (angle information) from the angle sensor. When the transmitter 96 receives power supply, it is configured to pair with the receiver 16 of the work vehicle A. Accordingly, the second work device B is equipped with a power line (cable) that supplies power to the detection sensor 95 and the transmitter 96. The power line, like the power line connected to the prime mover 7a (electric motor 26), is connectable to the power output system (external output circuit) of the work vehicle A by a connector.

[0175] The second work implement B is as described above. When performing tilling work, the tilling member 780 (soiler) moves ahead to till the soil as the work vehicle A moves forward. The cage roller 6 further tills or cultivates the surface layer of the soil that has been tilled by the tilling member 780 (soiler). In the first embodiment, the extension cover 94 follows the cage roller 6, so the extension cover 94 evenly levels the soil surface. The second work implement B also has a detection sensor 95, and detection results from the detection sensor 95 can be transmitted to the work vehicle A from a transmitter 96. Therefore, when the operator sets the automatic tilling depth function, the control device 4 of the work vehicle A activates the connecting mechanism 2 (lower links 20R, 20L) to raise and lower the second work implement B based on the detection result of the detection sensor 95. This allows the second work implement B to perform good tilling work.

[0176] The first invention of the present application is not limited to the first embodiment, and can be modified as appropriate within the scope of the gist of the first invention.

[0177] For example, in the first embodiment, each of the pair of actuators 21R, 21L of the linkage mechanism 2 of the work vehicle A is an electric hydraulic cylinder, but this is not limiting. For example, each of the pair of actuators 21R, 21L of the linkage mechanism 2 may be a hydraulic cylinder 27 connected to a hydraulic circuit provided in the work vehicle A. However, in this case, as in the first embodiment, it goes without saying that the hydraulic circuit is configured so that the pair of hydraulic cylinders 27 can operate (extend and retract) independently. Furthermore, each of the pair of actuators 21R, 21L of the linkage mechanism 2 is not limited to hydraulic cylinders, and may be an electric cylinder having an electric motor 26. In other words, each of the pair of actuators 21R, 21L of the linkage mechanism 2 may be an electric cylinder including the electric motor 26 and a conversion mechanism that converts the rotational output of the electric motor 26 into linear motion, thereby linearly moving the rod 271a to retract and retract the rod 271a from the cylinder tube 270.

[0178] In the first embodiment, an electric motor is used as the prime mover 7a of the first working device B, but this is not limiting. For example, the prime mover 7a of the working device may be a small internal combustion engine (small engine). In this case, the small internal combustion engine (small engine) also has an output shaft 70a. Therefore, by arranging the output shaft 70a of the small internal combustion engine (small engine) in the same manner as the output shaft 70a of the electric motor 26, the same functions and effects as those of the first embodiment can be achieved.

[0179] In the first embodiment, the first working device B transmits the output of the prime mover 7a to one end of the rotating working body 6, but this is not limiting. For example, as shown in FIG. 20 , the prime mover 7a may be disposed so that the output shaft 70a of the prime mover 7a corresponds to an arbitrary position (a central position in FIG. 20 ) between both ends of the rotating working body 6 in the second direction (axial direction). In this case, an output sprocket 71a is attached to the output shaft 70a of the prime mover 7a, and an input sprocket 71b is attached to an arbitrary position between both ends of the main shaft portion 600 of the rotating working body (rotor) 6 in the second direction (axial direction) that corresponds to the position of the output shaft 70a of the prime mover 7a (a central position in FIG. 20 ). A chain 71c is looped between the output sprocket 71a and the input sprocket 71b, thereby transmitting the output of the prime mover 7a to the rotating working body 6. In this case, a cover 79 for covering the drive transmission mechanism 7b (output sprocket 71a, input sprocket 71b, and chain 71c) may be provided separately from the supports 82, 83 that support the rotating working body 6.

[0180] In the first embodiment, each of the first working device B and the second working device B includes one rotating working body 6 (rotary 6, cage roller 6), but this is not limited to this. For example, as shown in FIGS. 21 to 21L , the working device B may include multiple (two or more) rotating working bodies 6, and the multiple rotating working bodies 6 may be arranged with a positional offset in the second direction. In this case, as shown in FIGS. 21 and 22 , the multiple rotating working bodies 6 may be arranged in a line in the second direction. Furthermore, as shown in FIGS. 23 and 24 , the multiple rotating working bodies 6 may be arranged with a positional offset in the second direction such that adjacent rotating working bodies 6 are offset in the first direction and partially overlap (partially overlap in projection) when viewed from the first direction.

[0181] In this way, when the working device B is equipped with multiple rotating working bodies 6 that are misaligned in the second direction, the overall length (total width) of the working device B in the second direction is long, and the rotating working bodies 6 protrude outward from both side surfaces in the second direction of the work vehicle A (vehicle body 1). As a result, the working device B becomes an obstacle when traveling or when not performing work, and in these cases, it is preferable that, of the multiple rotating working bodies 6 lined up side by side, the rotating working bodies 6 at both ends be configured to be able to stand up.

[0182] More specifically, this type of working device B comprises a frame structure 8 including a connecting portion 80 that can be connected to a traveling vehicle, and a plurality of rotating working bodies 6 journaled on the frame structure 8, each of which can rotate around an axis extending in the second direction of the traveling vehicle.

[0183] In addition, even in this type of work device B, when the rotating working body 6 is a rotary 6, a plurality of prime movers 7a are provided corresponding to each of the multiple rotating working bodies 6, and each prime mover 7a rotates and drives the corresponding rotating working body 6, and the output of the prime movers 7a is transmitted directly or indirectly to the rotating working body 6.

[0184] The frame structure 8 of this type of working device B has a first frame 8a including a connecting portion 80, and a pair of second frames 8b connected to both ends of the first frame 8a, which rotatably support the rotating working bodies 6 at both ends in the second direction.

[0185] The first frame 8a has a support frame (referred to as a first support frame) 81a extending in the second direction. The connecting portion 80 is connected to the first support frame 81a. Specifically, similar to the first working device B and the second working device B, the connecting portion 80 includes a pair of lower connecting portions 80a that correspond to the hook members 23R, 23L of the pair of lower links 20R, 20L on the work vehicle A side or the pair of lower hook portions 25a, 25a of the connecting frame 24. In the first embodiment, the connecting portion 80 also includes an upper connecting portion 80b that corresponds to the tip end of the upper link 22 or the upper hook portion 25b of the connecting frame 24. The pair of lower connecting portions and the upper connecting portion are configured similarly to those in the first embodiment, except that they are connected to the first support frame 81a. Therefore, by replacing the support frame 81 in the description of the pair of lower connecting portions 80a and upper connecting portions 80b of the first working device B or the second working device B with the first support frame 81a, the description of the pair of lower connecting portions and upper connecting portions 80b here will be omitted, and therefore the description here will be omitted.

[0186] The first support frame 81a has a pair of frame connecting portions 850, 850 that connect adjacent second frames 8b. The pair of frame connecting portions 850, 850 are arranged symmetrically with respect to an imaginary plane (imaginary reference plane) VS that extends in the first direction and the third direction along a center line that passes through the center position of the first support frame 81a. Connected portions 860 (described later) of adjacent second frames 8b, 8b are connected to the frame connecting portions 850 so as to be rotatable about an axis extending in the first direction.

[0187] Each of the pair of frame connecting portions 850 is positioned so that when the second frame 8b is rotated to stand up (standing up the rotating work body 6) and when the second frame 8b is in an upright position, the surrounding components (e.g., the second frame 8b, the prime mover 7a, the cover, etc. associated with adjacent rotating work bodies 6) do not interfere with each other.

[0188] As shown in Fig. 21 , when the working device B includes two rotatable working bodies 6, 6, the first frame 8a has the above configuration. In contrast, as shown in Figs. 22 to 24 , when the working device B includes three or more rotatable working bodies 6, the first frame 8a has, in addition to the above configuration, a pair of supports 82a, 83a connected to the first support frame 81a, which rotatably support both ends of the central rotatable working body 6 in the second direction among the three rotatable working bodies 6. The central rotatable working body 6 is disposed below the first support frame 81a.

[0189] In this case, the driving force of the prime mover 7a is transmitted to the center position in the second direction of the central rotating working body 6 among the three rotating working bodies 6. That is, the prime mover 7a, the drive transmission mechanism 7b, and the cover that covers the drive transmission mechanism 7b are arranged in the same manner as in the working apparatus B shown in FIG.

[0190] 21 to 24 , whether the working device B includes two rotating working bodies 6, 6 or three or more rotating working bodies 6, each of the pair of second frames 8b, 8b includes a support frame (referred to as a second support frame) 81b extending in the second direction and a pair of support portions 82b, 83b extending downward from both ends of the second support frame 81b, which rotatably support both ends (shafts) of the rotating working body 6. Since the pair of second frames 8b, 8b support the rotating working body 6 located at the farthest end in the second direction, the prime mover 7a, drive transmission mechanism 7b, and cover (the other support portion 83b) are arranged in the same manner as in the first working device B or in the manner shown in FIG. 20 . Note that FIGS. 22 to 24 illustrate an arrangement similar to that of the first working device B. However, the pair of second frames 8b, 8b are disposed symmetrically with respect to the virtual reference plane VS so that the drive transmission mechanism 7b is positioned at the outermost position. Accordingly, a skid 75 and a rotating disk 76 are also attached to the second frame 8b.

[0191] As is clear from each figure, the relationship between the second frame 8b and the rotating working body 6, the relationship between these and the prime mover 7a, drive transmission mechanism 7b, etc., and the relationship between the skid 75 and rotating disc body 76 are the same as those of the first working device B, so please refer to the explanation of the first working device B and will not be explained here.

[0192] The second frame 8b has a connected portion 860 connected to the frame connecting portion 850 of the first frame 8a at the end of the second support frame 81b where the prime mover 7a, drive transmission mechanism 7b, etc. are not present. The connected portion 860 is connected to the frame connecting portion 850 so as to be rotatable around an axis extending in the first direction. Accordingly, this type of working device B is equipped with a pair of swing actuators 870, 870 for rotating (swinging) each of the pair of second frames 8b on both sides in the second direction around an axis in the first direction. That is, the working device B is equipped with a pair of actuators 870, 870 for switching the postures of the rotating working bodies 6 at both ends between a normal recumbent position and an upright position. Accordingly, the first frame 8a and the second frame 8b are provided with actuator connecting portions 851, 861 for connecting the actuators 870. The pair of swing actuators 870, 870 are cylinder devices that extend and retract when driven by an electric motor. The pair of swing actuators 870, 870 are connected to an actuator connecting portion 851 of the first frame 8a and an actuator connecting portion 861 of the second frame 8b. The actuator connecting portion 851 of the first frame 8a is set at a higher position in the third direction than the actuator connecting portion 861 of the second frame 8b. Accordingly, the pair of swing actuators 870, 870 are arranged in an attitude in which they are tilted downward from the first frame 8a side toward the second frame 8b side. This tilting direction coincides with the extension and retraction direction of the cylinder device.

[0193] The electric motor of the actuator 870 receives a supply of power from the work vehicle A. Here, an electric hydraulic cylinder is employed for each of the pair of swing actuators 870, 870, similar to the actuators 21R, 21L of the linkage mechanism 2 of the work vehicle A. Accordingly, the work device B is provided with a power line (cable) that supplies power to the electric motor and is connectable to a power output system (external output circuit) of the work vehicle A by a connector. Accordingly, the worker can extend and retract the pair of swing actuators 870, 870 by operating the second operating device 14 of the work vehicle A.

[0194] 21 and 22, adjacent rotating working bodies 6 are arranged concentrically, but as shown in Fig. 23, the first frame 8a (the central rotating working body 6) and the second frame 8b (the end rotating working body 6) may be arranged to be offset in the first direction, and the first frame 8a and the second frame 8b may be arranged to partially overlap in the second direction. In this way, the working ranges of the rotating working bodies 6 are continuous or overlapping, preventing the formation of unworked areas.

[0195] As described above, the working device B has multiple rotatable working bodies 6, which increases the working range. By raising the second frames 8b (rotatable working bodies 6) at both ends, the amount of protrusion of the working device B from both ends of the work vehicle A can be reduced, preventing the working device B from getting in the way when not working (e.g., while traveling). Furthermore, since the working device B is equipped with a motor 7a corresponding to each of the multiple rotatable working bodies 6, the rotation conditions of each rotatable working body 6 can be varied. In other words, since soil quality and moisture can vary depending on the location in a farm field, varying the rotation conditions of each rotatable working body 6 enables work to be performed according to the location being worked on. Furthermore, by attaching a terrain-shaping machine to each of the multiple rotatable working bodies 6, it becomes possible to perform plowing (plowing) and shaping (ridge formation, etc.) appropriate for that location.

[0196] As is clear from the above description, the configuration (basic configuration) related to the rotatable working bodies 6 at both ends is similar to that of the first working device B, etc., and the configuration (basic configuration) related to the central rotatable working body 6 when there are three rotatable working bodies 6 is similar to that of the working device B shown in FIG. 20 , so similar actions and effects can be obtained. Although not specifically mentioned, this type of working device B can also include the configuration provided in the first working device B (e.g., the working body cover 9, the detection sensor 95, etc.). In the above description, the output of the prime mover 7a that drives the rotatable working bodies 6 at both ends in the second direction is transmitted to the ends of the rotatable working bodies 6. In this case, however, the drive transmission mechanism 7b is located outward in the second direction from the rotatable working bodies 6, so the size of the working device B in the second direction is larger. In consideration of this, the prime mover 7a and the drive transmission mechanism 7b that drive each rotatable working body 6 may be disposed within the range of the rotatable working body 6 in the second direction, as shown in FIG. 20 .

[0197] Although each of the above-described working implements B is a cultivator that tills (plows) the soil, the present invention is not limited to this. For example, the working implement B may be one that includes a rotating brush as the rotating working body 6.

[0198] In the first embodiment, the second work device B is equipped with a winged soiler as the tilling member 780, but the tilling member 780 is not limited to a winged soiler. For example, the tilling member 780 may be a soiler without wings. Furthermore, as shown in FIG. 25 , the tilling member 780 may be a short disk (disk) that can rotate around an axis that is inclined diagonally downward toward the front with respect to a centerline that passes through the center of the work vehicle A (body 1) in the second direction. In this case, as with the soiler, multiple short disks are arranged in the second direction. Note that the short disk has multiple recesses formed at intervals (equally or approximately equally) in the circumferential direction on its periphery. In other words, the short disk has multiple projections and depressions formed on its outer periphery.

[0199] In the first embodiment, the second working device B has the cage roller 6 rotatably supported by the supports 82, 83 fixed to the support frame 81, thereby positioning the cage roller 6 in a fixed position. However, this is not limited to this. For example, as shown in FIG. 26 , each of the pair of supports 82, 83 may be rotatably connected to the support frame 81 about an axis extending in the second direction (e.g., about the center line of the support frame 81), so that the cage roller 6 is rotatable about the rotation center of the support members 82, 83. In this way, the height position of the cage roller 6 can be changed by rotating the cage roller 6 about the rotation center of the support members 82, 83. In this case, the working device B preferably includes a rotation actuator (e.g., an electric motor or an electrohydraulic motor) 88 that rotates the supports 82, 83 about an axis extending in the second direction (e.g., about the center line of the support frame 81). In this way, by operating (e.g., extending or contracting) the actuator 88, the cage roller 6 can be rotated around the center of rotation of the support parts 82, 83, and by stopping the operation (e.g., extending or contracting) of the actuator 88, the cage roller 6 can be maintained in a fixed position.

[0200] In the first embodiment, each working apparatus B is equipped with a transmitter 96 that transmits (sends) the detection results of the angle sensors S3, S3, but this is not limited to this. That is, each working apparatus B is equipped with a transmitter 96 on the assumption that the work vehicle A is equipped with a receiver 16, but this is not limited to the case where the work vehicle A does not have a receiver 16. For example, if the work vehicle A does not have a receiver 16, the work vehicle A may be provided with angle sensors S3, S3 that output the angle of the detection cover 91 of the working apparatus B, and a transmission wire that transmits the tilt of the detection cover 91 to the angle sensors S3, S3 may be arranged across the work vehicle A and the working apparatus B. In this case, the transmission wire may be separated into a transmission wire for the work vehicle A and a transmission wire for the working apparatus B, and a connection mechanism may be provided that enables the axial movement (axial force) of the transmission wire for the working apparatus B to be transmitted to the transmission wire for the work vehicle A when the working apparatus B is connected to the work vehicle A.

[0201] In the first embodiment, the first working device B plows (cultivates) the soil as it is using a rotary 6 as a rotating working body, and the second working device B plows (cultivates) the soil as it is using a plowing member 780 and a cage roller 6 as a rotating working body, but before plowing (cultivating) the soil, plants growing in the soil (second ears of grass, grass, etc.) may be cut.

[0202] Specifically, when the working implement B is a cultivator equipped with a rotary working body 6, as shown in FIG. 27 , the working implement B may be equipped with a pruning device 65 for pruning plants growing in the soil in front of the rotary working body 6 (and further in front of the tilling members 780 if the working implement B is equipped with the rotary working body 6). That is, the working implement B may be equipped with a pruning device 65 disposed in front of the tilling means (rotary working body 6, tilling members 780) that tills the soil. The pruning device 65 may be equipped with, for example, clippers or a saw-like cutting blade. The pruning device 65 may also be configured to prune plants in a range corresponding to the working range (tillage range) in the second direction of the tilling means (rotary working body 6, tilling members 780). In this way, the pruned plants (especially the second ears) are incorporated into the soil when the tilling means (rotary working body 6, tilling members 780) tills the soil, contributing to soil improvement.

[0203] The above-described embodiment has been described above, and the first invention (preferred embodiment) of the present application provides a work apparatus B described in the following items (items 2-1 to 2-12). In addition, the above-described embodiment also provides a work vehicle A described in the following items (items 1-1 to 1-8).

[0204] (Item 1-1) A work vehicle A includes: a travelable vehicle body 1; and a coupling mechanism 2 attached to the vehicle body 1, the coupling mechanism 2 coupling and supporting a working device B; the coupling mechanism 2 is a pair of lower links 20R, 20L each having a first end 20a coupled to the vehicle body 1 so as to be rotatable about an axis extending in a width direction (second direction) of the vehicle body 1 and a second end 20b opposite the first end 20a; the pair of lower links 20R, 20L are arranged at a distance in the width direction (second direction) of the vehicle body 1, and a working device B is directly or indirectly coupled to second end 20b; and a pair of actuators 21R, 21L arranged corresponding to the pair of lower links 20R, 20L, each of which swings the corresponding lower link 20R, 20L about an axis; and the pair of actuators 21R, 21L are each independently operable.

[0205] According to the work vehicle A of item 1-1, the pair of actuators 21R, 21L can be independently operated, and therefore the pair of lower links 20R, 20L can also be independently rotated. That is, the pair of lower links 20R, 20L can be synchronized to rotate in the same direction (the second ends 20b are raised and lowered) or rotate in opposite directions. Furthermore, only one of the lower links 20R, 20L can be raised and lowered. As a result, the working device B connected to the second ends 20b of the pair of lower links 20R, 20L can be positioned appropriately in response to changes in the attitude of the vehicle body 1. Therefore, the work vehicle A can maintain the attitude of the working device B in an appropriate state depending on the situation.

[0206] (Item 1-2) The work vehicle A described in Item 1-1, in which each of the pair of actuators 21R, 21L is a cylinder device configured to be extendable and retractable in one direction and having an electric motor 26 that drives the actuator itself to extend and retract, and is disposed so as to straddle the corresponding lower link 20R, 20L and the vehicle body 1, with both ends in one direction connected to the lower link 20R, 20L and the vehicle body 1.

[0207] According to work vehicle A of item 1-2, each of the pair of actuators 21R, 21L is configured to be extendable and retractable in one direction and is a cylinder device 21R, 21L having an electric motor 26 that drives the actuator itself to extend and retract, so that each can operate independently. In other words, because the pair of actuators 21R, 21L (cylinder device 21R, 21L) extends and retracts by driving its own electric motor 26, either actuator 21R can extend and retract without being affected by the state of the other actuator 21L. This allows the pair of lower links 20R, 20L to be raised and lowered independently without affecting each other (without mutual interference).

[0208] (Item 1-3) The work vehicle A described in Item 1-2, wherein each of the pair of actuators 21R, 21L is a hydraulic pump 280 that discharges hydraulic oil for expansion and contraction of the actuator itself, and is an electric hydraulic cylinder including the hydraulic pump 280 driven by the electric motor 26.

[0209] According to the work vehicle A of item 1-3, each of the pair of actuators 21R, 21L is an electric hydraulic cylinder including a hydraulic pump 280 driven by an electric motor 26, so that sufficient propulsion force (pushing force and retracting force) can be secured during extension and retraction.

[0210] (Item 1-4) A work vehicle A described in Item 1-2, wherein at least one of lower links 20R, 20L and actuators 21R, 21L has a plurality of coupling positions at which the lower links can be coupled to at least one other of lower links 20R, 20L and actuators 21R, 21L, and coupling mechanism 2 is equipped with angle sensors S3, S3 that detect rotation angles of the pair of lower links 20R, 20L about their respective axes.

[0211] According to item 1-4, at least one of the lower links 20R, 20L and the actuators 21R, 21L has a plurality of coupling positions at which the lower links 20R, 20L and the actuators 21R, 21L can be coupled to at least one other of the lower links 20R, 20L and the actuators 21R, 21L. Therefore, the posture (tilt angle) of the lower links 20R, 20L can be adjusted to suit the situation by combining the coupling positions. Furthermore, the coupling mechanism 2 includes angle sensors S3, S3 that detect the rotation angles of the pair of lower links 20R, 20L about their respective axes, so that the situation (tilt angle) of the pair of lower links 20R, 20L can be grasped. This makes it possible to grasp the reference positions (postures) of the pair of lower links 20R, 20L and the amount of rotation (rotation angle) required for each of the pair of lower links 20R, 20L. Therefore, the pair of lower links 20R, 20L can be rotated by an amount and direction appropriate for the situation.

[0212] (Item 1-5) The work vehicle A described in any one of items 1-1 to 1-4, wherein the connecting mechanism 2 is a connecting frame 24 that connects the second ends 20b of the pair of lower links 20R, 20L together, and includes a hooking portion 25 on which a working device B can be hooked, and both ends of the connecting frame 24 are supported by the second ends 20b of the pair of lower links 20R, 20L via spherical bearings 240.

[0213] According to work vehicle A of item 1-5, coupling mechanism 2 has coupling frame 24 that couples second ends 20b of a pair of lower links 20R, 20L together, and coupling frame 24 that includes hook portions 25 on which working device B can be hooked, so that working device B can be connected to second ends 20b of the pair of lower links 20R, 20L via coupling frame 24 by hooking it onto hook portions 25. Furthermore, because both ends of coupling frame 24 are supported by second ends 20b of the pair of lower links 20R, 20L via spherical bearings 240, even if the pair of lower links 20R, 20L rotate in opposite directions relative to one another, no torsional action is generated in coupling frame 24 and working device B, and unnecessary force (stress) is prevented from acting on them. That is, because spherical bearing 240 allows rotation about the center point of the sphere regardless of direction, it allows connecting frame 24 supported by second end portions 20b of lower links 20R, 20L to change its position when a difference in height occurs between second end portions 20b of a pair of lower links 20R, 20L. Therefore, the end portion of connecting frame 24 supported by second end portions 20b of lower links 20R, 20L is prevented from being subjected to large torsional stress. In addition, excessive friction is not generated between second end portions 20b of lower links 20R, 20L and the end portion of connecting frame 24, thereby suppressing wear on both.

[0214] (Item 1-6) The work vehicle A described in any one of items 1-1 to 1-5, wherein the connecting mechanism 2 is a pair of hooking members 23R, 23L capable of hooking the working device B, and the pair of hooking members 23R, 23L are connected to the second ends 20b of the pair of lower links 20R, 20L, respectively.

[0215] According to the work vehicle A of items 1-6, the work vehicle A has a pair of hooking members 23R, 23L that can hook the work device B, and the pair of hooking members 23R, 23L are connected to the second end portions 20b of the pair of lower links 20R, 20L, respectively, so that the work device B can be connected easily and reliably.

[0216] (Item 1-7) The work vehicle A described in Item 1-5, wherein the connecting mechanism 2 has an upper link 22 arranged above the pair of lower links 20R, 20L, and the upper link 22 includes a base end 22a connected to the vehicle body 1 to be rotatable about an axis extending in the width direction (second direction), and a tip end 22b on the opposite side of the base end 22a, and the tip end 22b is connected to the connecting frame 24 to be rotatable about the axis extending in the width direction (second direction).

[0217] According to work vehicle A of item 1-7, there is provided upper link 22 disposed above a pair of lower links 20R, 20L, and upper link 22 includes base end 22a connected to vehicle body 1 so as to be rotatable about an axis extending in the width direction (second direction), and tip end 22b on the opposite side of the base end, and tip end 22b is connected to connecting frame 24 so as to be rotatable about an axis extending in the width direction (second direction), so that connecting frame 24 is supported by three (three locations): pair of lower links 20R, 20L and upper link 22. This ensures reliable positioning (posturing) of connecting frame 24, and therefore working device B is stably connected and supported.

[0218] (Item 1-8) The work vehicle A described in Item 1-6, wherein the connecting mechanism 2 has an upper link 22 arranged above the pair of lower links 20R, 20L, the upper link 22 having a base end connected to the vehicle body 1 to be rotatable around an axis extending in the width direction (second direction), and a tip end opposite the base end, and the tip end of the upper link 22 is capable of hooking a working device B.

[0219] According to the work vehicle A of item 1-8, there is provided an upper link 22 disposed above a pair of lower links 20R, 20L, the upper link 22 having a base end connected to the vehicle body 1 so as to be rotatable about an axis extending in the width direction (second direction) and a tip end opposite the base end, and the tip end of the upper link 22 is capable of latching a working device B, so that the working device B is supported at three points: the pair of lower links 20R, 20L and the upper link 22. In other words, the positioning (posturing) of the working device B is reliably determined, so that the working device B is stably connected and supported.

[0220] (Item 2-1) A working device B includes a frame structure 8 including a connecting portion 80 that can be connected to a traveling vehicle, a rotating working body 6 journaled on the frame structure 8 and rotatable around an axis that extends in the width direction (second direction) of the traveling vehicle, and a prime mover 7a that rotationally drives the rotating working body 6, and the output of the prime mover 7a is transmitted directly or indirectly to the rotating working body 6.

[0221] According to the work apparatus B of item 2-1, the work apparatus B is equipped with a prime mover 7a that drives the rotating working body 6 to rotate, and the output of the prime mover 7a is transmitted directly or indirectly to the rotating working body 6, eliminating the need for drive transmission from the traveling vehicle (work vehicle A). This reduces the drive load on the traveling vehicle (work vehicle A). Furthermore, because the work apparatus B drives the rotating working body 6 with its own prime mover 7a, it can be driven with reduced drive transmission loss due to mechanical resistance, etc. Therefore, the work apparatus B can be driven as needed and sufficiently while reducing the load on the work vehicle A.

[0222] (Item 2-2) The working device B according to Item 2-1, wherein the output of the prime mover 7a is directly or indirectly transmitted to one of both ends of the rotating working body 6 in the width direction (second direction).

[0223] According to the working device B of item 2-2, the output of the prime mover 7a is transmitted directly or indirectly to either one of the two ends of the rotating working body 6 in the width direction (second direction), so that the output of the prime mover 7a can be transmitted efficiently and reliably to the rotating working body 6 while maintaining a simple configuration.

[0224] (Item 2-3) The working device B according to Item 2-2 includes a drive transmission mechanism 7b that transmits the output of the prime mover 7a to the rotating working body 6, the prime mover 7a having an output shaft 70a, and the drive transmission mechanism 7b that transmits the rotation of the output shaft 70a to one end of the rotating working body 6.

[0225] According to the working device B of item 2-3, it is provided with a drive transmission mechanism 7b that transmits the output of the prime mover 7a to the rotating working body 6, the prime mover 7a has an output shaft 70a, and the drive transmission mechanism 7b transmits the rotation of the output shaft 70a to one end of the rotating working body 6, so that the output of the prime mover 7a can be reliably transmitted to the rotating working body 6.

[0226] (Item 2-4) The working device B described in Item 2-3, wherein the rotating working body 6 has shaft portions 601, 601 centered on an axis at one end, the prime mover 7a is arranged with the output shaft 70a parallel or approximately parallel to the shaft portion 601, and the drive transmission mechanism 7b has a group of gears including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601, the input gear directly or indirectly meshing with the output gear.

[0227] According to the working device B of item 2-4, the rotating working body 6 has shaft portions 601, 601 centered on the axis at one end, the prime mover 7a is arranged with the output shaft 70a parallel or approximately parallel to the shaft portions 601, 601, and the drive transmission mechanism 7b has a gear group including an output gear attached to the output shaft 70a and an input gear attached to the shaft portions 601, 601 and meshing directly or indirectly with the output gear, so that the output of the prime mover 7a can be reliably transmitted to the rotating working body 6 via the gear group including the output gear and the input gear.

[0228] (Item 2-5) The working device B described in Item 2-3, in which the rotating working body 6 has shaft portions 601, 601 centered on the axis at one end, the prime mover 7a is arranged with the output shaft 70a parallel or approximately parallel to the shaft portions 601, 601, and the drive transmission mechanism 7b includes an output sprocket 71a attached to the output shaft 70a, an input sprocket 71b attached to the shaft portions 601, 601, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b.

[0229] According to the working device B of item 2-5, the rotating working body 6 has shaft portions 601, 601 centered on the axis at one end, the prime mover 7a is arranged with the output shaft 70a parallel or approximately parallel to the shaft portions 601, 601, and the drive transmission mechanism 7b includes an output sprocket 71a attached to the output shaft 70a, an input sprocket 71b attached to the shaft portions 601, 601, and a chain 71c wound around the output sprocket 71a and the input sprocket 71b, so that the output of the prime mover 7a can be transmitted in this order: output sprocket 71a, chain 71c, input sprocket 71b, and rotating working body 6. Because the output of the prime mover 7a can be transmitted to the rotating working body 6 with this simple configuration, loss of drive energy (transmission loss) can be reduced.

[0230] (Item 2-6) A working device B according to Item 2-3, in which the frame structure 8 includes a support frame 81 extending in the width direction (second direction) and a pair of support parts 82, 83 extending downward from both ends of the support frame 81, the rotating working body 6 is disposed below the support frame 81, both ends of the rotating working body 6 are supported by the pair of support parts 82, 83, and the prime mover 7a is attached to the support frame 81 or one of the support parts 82.

[0231] According to the working device B of item 2-6, the frame structure 8 includes a support frame 81 extending in the width direction (second direction) and a pair of support parts 82, 83 extending downward from both ends of the support frame 81, and the rotating working body 6 is disposed below the support frame 81, and both ends of the rotating working body 6 are supported by the pair of support parts 82, 83, thereby stably and reliably supporting the rotating working body 6. Furthermore, since the prime mover 7a is attached to the support frame 81 or one of the support parts 82, the prime mover 7a can also be stably and reliably supported.

[0232] (Item 2-7) The working device B according to Item 2-6, wherein one of the pair of support parts 82, 83, the support part 82 that supports the end part, is a cover that covers the drive transmission mechanism 7b.

[0233] According to the working device B of item 2-7, of the pair of support parts 82, 83, one of the support parts 82 that supports the end part is a cover that covers the drive transmission mechanism 7b, and therefore, by using one of the support parts 82 as a cover that covers the drive transmission mechanism 7b, the weight of the device can be reduced.

[0234] (Item 2-8) The working device B according to Item 2-3, further comprising a cover that covers the drive transmission mechanism 7b, and the prime mover 7a is disposed in contact with or adjacent to the cover.

[0235] According to the working device B of item 2-8, a cover that covers the drive transmission mechanism 7b is provided, and the prime mover 7a is disposed in contact with or in close proximity to the cover, so that the prime mover 7a is disposed close to the drive transmission mechanism 7b. In other words, because the prime mover 7a and the rotating working body 6 are disposed in close proximity, loss in the output of the prime mover 7a before it is transmitted to the rotating working body 6 can be reduced.

[0236] (Item 2-9) The working device B according to Item 2-3, further comprising a skid 75 that is disposed below the drive transmission mechanism 7b and is movable while in contact with the ground, the skid 75 being directly or indirectly connected to the frame structure 8 and receiving a load acting downward.

[0237] According to the working device B of item 2-9, the skid 75 is disposed below the drive transmission mechanism 7b and is movable while in contact with the ground. The skid 75 is directly or indirectly connected to the frame structure 8 and receives a load acting downward, thereby preventing the working device B from tilting unnecessarily due to the weight (load) of the prime mover 7a or the drive transmission mechanism 7b. In other words, when the prime mover 7a or the drive transmission mechanism 7b is disposed on either side in the width direction (second direction) of the device (the direction in which the rotation shaft 60 of the rotating working body 6 extends), a moment acts with its center (origin) at the center of the rotation shaft 60 of the rotating working body 6. As a result, the working device B tends to tilt to either side in the width direction (second direction). However, according to the working device B of item 2-9, the skid 75, which is disposed below the drive transmission mechanism 7b and in contact with the ground, supports either side of the rotating working body 6, preventing the working device B from tilting unnecessarily. Furthermore, since the skid 75 can move while in contact with the ground, it does not impede the movement (advancement) of the work implement B caused by the travelling vehicle (work vehicle A).

[0238] (Item 2-10) A work device B described in Item 2-9, which includes a rotating disk body 76 that is arranged in a position preceding the skid 75 when the traveling vehicle is traveling, and which is rotatable around an inclined axis that is on the side of a front-to-rear center line CL that passes through the center in the width direction (second direction) of the traveling vehicle and that is tilted upward as it moves toward the rear side in the traveling direction of the traveling vehicle.

[0239] According to the work device B of item 2-10, the rotating disk 76 is arranged in a position ahead of the skid 75 when the traveling vehicle is traveling, and is equipped with the rotating disk 76 that is rotatable around an inclined axis that is closer to the front-to-rear centerline CL that passes through the center in the width direction (second direction) of the traveling vehicle and that is more upwardly oriented toward the rear in the traveling direction of the traveling vehicle, so that the rotating disk 76 removes stones and lumps of earth ahead of the traveling skid 75 during work. This allows the skid 75 to move smoothly when it moves while in contact with the ground.

[0240] (Item 2-11) The working device B according to any one of items 2-1 to 2-10, wherein the prime mover 7a is disposed at a position that overlaps the rotating working body 6 in projection when viewed from a direction perpendicular to the width direction (second direction) of the traveling vehicle.

[0241] According to the working device B of item 2-11, the prime mover 7a is disposed in a position that overlaps projectively with the rotating working body 6 when viewed from a direction perpendicular to the width direction (second direction) of the traveling vehicle, and therefore the prime mover 7a does not protrude in the width direction (second direction) from the rotating working body 6. This prevents the prime mover 7a from coming into contact with the surroundings while working with the working device B.

[0242] (Item 2-12) The working device B according to Item 2-11, wherein the prime mover 7a is an electric motor 26 and is driven by receiving electric power from the traveling vehicle.

[0243] According to the working device B of item 2-12, the prime mover 7a is an electric motor 26, and is driven by power supplied from the traveling vehicle, so no exhaust gas is generated as with an internal combustion engine, and this can contribute to environmental improvement, etc.

[0244] Next, a second embodiment of the present invention (hereinafter referred to as the second embodiment) will be described with reference to the drawings.

[0245] The work vehicle 1001 of the second embodiment is a traveling vehicle that can travel. As shown in Figures 28 and 29, the work vehicle 1001 of the second embodiment is a tractor, and is equipped with a body 1002, a traveling device 1003, a driver's seat 1004, a prime mover 1005 for traveling, a coupling device 1006, a battery 1008, and a movement mechanism 1080. It should be noted that the work vehicle 1001 according to the second invention is not limited to a tractor. For example, the work vehicle 1001 according to the second invention may be an agricultural machine, a construction machine, a transport machine, a utility vehicle, or the like other than a tractor.

[0246] In the following, the longitudinal direction of the vehicle body 1002 (the direction indicated by arrows X1 and X2 in Figures 28 and 29), which is the straight-ahead traveling direction of the work vehicle 1001, will be described as the front-to-rear direction, the width direction of the vehicle body 1002 (the direction indicated by arrows Y1 and Y2 in Figure 29) as the left-to-right direction, and the height direction of the vehicle body 1002 (the direction indicated by arrows Z1 and Z2 in Figure 28) as the up-to-down direction.

[0247] The vehicle body 1002 is formed by combining metal frame materials and the like, and is supported by a traveling device 1003. The vehicle body 1002 includes a hood 1002A and a cabin 1002B. The hood 1002A is provided at the front upper part of the vehicle body 1002, and covers the area in front of the driver's seat 1004 at the upper part of the vehicle body 1002. In other words, the driver's seat 1004 is provided behind the hood 1002A at the upper part of the vehicle body 1002. The cabin 1002B covers the area around the driver's seat 1004 at the upper part of the vehicle body 1002. The cabin 1002B is a protection mechanism that protects the driver's seat 1004. It should be noted that the work vehicle 1001 may be provided with a canopy instead of the cabin 1002B as the above-mentioned protection mechanism.

[0248] 28, a clutch housing 1009A and a transmission case 1009B are provided at the rear of the vehicle body 1002. The clutch housing 1009A houses a clutch and is connected to the prime mover 1005. The transmission case 1009B houses a transmission, a rear wheel differential, etc. and is connected to the clutch housing 1009A.

[0249] The traveling devices 1003 support the vehicle body 1002 so that it can travel. The traveling devices 1003 of the second embodiment are wheels rotatably provided on the vehicle body 1002. As shown in Figures 28 and 29, the traveling devices 1003 include front wheels 1003F as front traveling devices provided on the left and right sides at the front of the vehicle body 1002, and rear wheels 1003R as rear traveling devices provided on the left and right sides at the rear of the vehicle body 1002. Note that, of the traveling devices 1003, either or both of the front wheels 1003F and rear wheels 1003R may be crawlers.

[0250] The prime mover 1005 is provided in the upper front part of the vehicle body 1002 and is housed inside the hood 1002A. The prime mover 1005 in the second embodiment is a diesel engine. The prime mover 1005 may be a gasoline engine or a hydrogen engine driven by the combustion energy of hydrogen gas. Alternatively, the prime mover 1005 may be an electric motor driven by power generated by a fuel cell or power charged in a battery 1008 from an external power source, or may be a hybrid prime mover configured by combining an engine and an electric motor.

[0251] An alternator is connected to the prime mover 1005 in the second embodiment. The alternator is connected to the drive shaft of the prime mover 1005 via a power transmission belt, and is driven to rotate by the power of the prime mover 1005 to generate electricity. The electricity generated by the alternator is supplied to the battery 1008 by an isolator.

[0252] The movement mechanism 1080 supports the coupling device 1006 at the rear of the vehicle body 1002 so that the coupling device 1006 can move in the left-right direction. Details of the coupling device 1006 will be described later. The movement mechanism 1080 of the second embodiment is an actuator that moves the coupling device 1006 in the left-right direction of the vehicle body 1002. As shown in FIG. 30 , the movement mechanism 1080 has a base portion 1081, a rail 1082, a slider 1083, and a slider drive device 1084. The slider drive device 1084 has a power transmission shaft 1085 and a drive motor 1086.

[0253] 28 and 29 , the base 1081 is a frame that supports the rail 1082, and is connected to and supported by the rear of the vehicle body 1002. The base 1081 extends from the rear of the vehicle body 1002 to a position rearward of the rear wheel 1003R. The rail 1082 is a frame that guides the slider 1083 in its extension direction, and extends in the left-right direction at the rear end of the base 1081. In other words, the rail 1082 is disposed rearward of the rear wheel (rear traveling device) 4R.

[0254] 29 , the rail 1082 extends in the left-right direction perpendicular to the vehicle body center line CL1001, which passes through the center in the left-right direction (width direction) and extends in the fore-aft direction (travel direction) of the vehicle body 1002. The rail 1082 is formed to have a length L1 that is shorter than the outer width W1 of the rear wheels 1003R provided on the left and right sides of the vehicle body 1002.

[0255] The slider 1083 is a base that supports the coupling device 1006, and is connected to the rail 1082 so as to be movable in the extension direction of the rail 1082. In other words, the slider 1083 supports the coupling device 1006 so as to be movable in the left-right direction within a range inside the outer width W1 of the left and right rear wheels 1003R.

[0256] 30 , the slider drive device 1084 is a device that moves the slider 1083 along the rail 1082. The power transmission shaft 1085 is a ball screw shaft that transmits the power of the drive motor 1086 to the slider 1083, extends parallel to the rail 1082, and is inserted through the slider 1083. The power transmission shaft 1085 is connected to the drive shaft of the drive motor 1086.

[0257] The drive motor 1086 is an electric motor that rotates the power transmission shaft 1085, and is driven by power supplied from the vehicle body 1002. Therefore, when the drive shaft of the drive motor 1086 is rotated, the power transmission shaft 1085 is also rotated accordingly. As a result, the slider 1083 slides along the rail 1082 within its extension range. This causes the position of the coupling device 1006 to move left and right.

[0258] In this way, according to the work vehicle 1001 of the second embodiment, the coupling device 1006 can be moved arbitrarily in the left-right direction, so when coupling the work device U1 to the vehicle body 1002, even if the position of the driven shaft US of the work device U1 relative to the drive shaft 1007S of the secondary motor 1007 is misaligned to the left or right, the position of the secondary motor 1007 can be adjusted to the left or right, so the work device U1 can be smoothly coupled to the secondary motor 1007.

[0259] The coupling device 1006 is a device that couples a working implement U1 to the vehicle body 1002. As shown in Figures 28 and 29, the coupling device 1006 of the second embodiment is connected to the rear of the vehicle body 1002 via a movement mechanism 1080. The coupling device 1006 of the second embodiment is provided on a slider 1083 of the movement mechanism 1080. Note that the work vehicle 1001 of the second embodiment can be used by appropriately attaching a working implement U1 having various uses and functions, such as a baler, cultivator, spreader, or seed sower, to the coupling device 1006.

[0260] 28 to 31, the coupling device 1006 has a lift arm 1011, a lower link 1012, a top link 1013, a lift rod 1014, a lift 1015, and a hitch frame 1016. Also, as shown in FIG. 28, the coupling device 1006 has a suspension device 1017. The coupling device has a prime mover (hereinafter referred to as "auxiliary prime mover") 7 that drives the working device U1. In the second embodiment, the auxiliary prime mover 1007 is an electric motor that is driven by electricity stored in a battery 1008.

[0261] As shown in FIG. 29, the lift arm 1011, lower link 1012, lift rod 1014, and lift 1015 are all provided on either side of an imaginary line VL that divides the slider 1083 in the left-right direction at the center.

[0262] The lift arm 1011, lower link 1012, and top link 1013 are all frames that are long in one direction, and are each pivotally supported at the rear of the slider 1083. More specifically, as shown in Figure 31, a first end 1021 of the lift arm 1011 is connected to an arm support shaft 1002N that extends in the left-right direction at the rear of the slider 1083, so that the lift arm 1011 can rotate about the arm support shaft 1002N. On the other hand, a second end 1022 of the lift arm 1011 is connected to a lift rod 1014. The lift arm 1011 extends rearward from the arm support shaft 1002N.

[0263] Lower link 1012 has a first end 1023 connected to the lower part of slider 1083 so as to be rotatable about an axis extending in the left-right direction of the slider 1083. On the other hand, a second end 1024 of lower link 1012 is connected to hitch frame 1016. Lower link 1012 extends rearward from the lower part of slider 1083.

[0264] The top link 1013 has a first end 1025 connected to an upper portion of the slider 1083 so as to be rotatable about an axis extending in the left-right direction. On the other hand, a second end 1026 of the top link 1013 is connected to the hitch frame 1016.

[0265] The lift rod 1014 connects the lift arm 1011 and the lower link 1012 on the same left and right side. More specifically, the first end 1027 of the lift rod 1014 is connected to the second end 1022 of the lift arm 1011 so as to be rotatable about an axis extending in the left-right direction. On the other hand, the second end 1028 of the lift rod 1014 is connected to the middle portion between both ends 1023, 1024 of the lower link 1012 so as to be rotatable about an axis extending in the left-right direction. The lift rod 1014 extends between the lift arm 1011 and the lower link 1012 on the same left and right side.

[0266] Joints 1029 are provided at the second end 1024 of the left lower link 1012, the second end 1024 of the right lower link 1012, and the second end 1026 of the top link 1013. The hitch frame 1016 is detachably connected to these three joints 1029. That is, as shown in FIGS. 28 and 29 , the coupling device 1006 of the second embodiment supports the hitch frame 1016 with a link mechanism 1030 made up of three links: the left and right lower links 1012 and the top link 1013 located above and in the center between the left and right lower links. The working device U1 used in connection with the work vehicle 1001 of the second embodiment has, for example, one engagement portion located at an upper position on the work vehicle 1001 side and two engagement portions located on the left and right sides at a lower position, and is connected to the hitch frame 1016 by these three engagement portions. Details of the hitch frame 1016 will be described later.

[0267] The lift 1015 of the second embodiment is a hydraulic cylinder that expands and contracts in its extension direction by hydraulic pressure, and connects the lift arm 1011 on the same left and right side to the slider 1083. More specifically, as shown in Figure 31, the first end 1031 of the lift 1015 is connected to the middle portion between both ends 1021, 1022 of the lift arm 1011 so as to be rotatable about an axis extending in the left-right direction. On the other hand, the second end 1032 of the lift 1015 is connected to the rear portion of the slider 1083 so as to be rotatable about an axis extending in the left-right direction.

[0268] Therefore, when the lift 1015 is extended, the lift arm 1011 swings upward around the first end 1021 as a fulcrum, pulling up the lift rod 1014. As a result, the lower link 1012 is pulled up in conjunction with this and swings upward around the first end 1023 as a fulcrum. On the other hand, when the lift 1015 is shortened, the lift arm 1011 swings downward around the first end 1021 as a fulcrum, pulling down the lift rod 1014. Accordingly, the lower link 1012 is also pulled down in conjunction with this and swings downward around the first end 1023 as a fulcrum. In this way, the coupling device 1006 swings the lower link 1012 up and down using the lift 1015.

[0269] The top link 1013 has a first end 1025 rotatably connected to the slider 1083. The second end 1026 of the top link 1013 is connected to the hitch frame 1016 together with the second end 1024 of the lower link 1012. That is, the second end 1026 of the top link 1013 and the second end 1024 of the lower link 1012 are connected via the hitch frame 1016. Therefore, when the lower link 1012 is swung up and down as described above, the top link 1013 also swung up and down accordingly. The hitch frame 1016 is supported by a link mechanism 1030 consisting of these three links 1012, 1013 so as to be able to move up and down.

[0270] The lifts 1015 are connected to a hydraulic pump mounted on the vehicle body 1002 via a hydraulic circuit, and their operation is controlled by a control device of the vehicle body 1002. The left and right lifts 1015 can be independently controlled. The lifts 1015 may be electric cylinders that are driven by power supplied from the vehicle body 1002.

[0271] 32 and 33 , the hitch frame 1016 includes a frame body 1041, an upper connecting portion 1042, a lower connecting portion 1043, a bracket 1044, and a protective member 1045. The frame body 1041 is formed of a metal material containing iron as a main component. The frame body 1041 includes a main frame portion 1046, a middle crosspiece portion 1047, and an auxiliary frame portion 1048.

[0272] The main frame portion 1046, middle crosspiece portion 1047, and auxiliary frame portion 1048 are all formed from square pipes, round pipes, flat bars, etc. The main frame portion 1046 is curved in an arch shape. Specifically, the main frame portion 1046 has a left-right central portion 1046C curved in a generally arcuate shape that convexes upward, and left-right side portions 1046S extending diagonally downward and outward from the central portion 1046C. The middle crosspiece portion 1047 extends left-right at approximately the center of the main frame portion 1046 in the up-down direction, connecting the left and right side portions 1046S.

[0273] The auxiliary frame portions 1048 are bent in a generally L-shape and are disposed at the left and right lower ends of the main frame portion 1046, spaced apart in the left-right direction. Specifically, the auxiliary frame portions 1048 have lower portions 1048U extending from the lower ends of the side portions 1046S of the main frame portion 1046 toward the center in the left-right direction, and inner portions 1048S extending upward from the center end of the lower portions 1048U. The upper ends of the inner portions 1048S of the auxiliary frame portions 1048 are connected to the middle crosspiece 1047. The inner portions 1048S of the left and right auxiliary frame portions 1048 are disposed generally parallel to each other at a predetermined interval in the left-right direction. The brackets 1044 are disposed between the left and right inner portions 1048S. Details of the brackets 1044 will be described later.

[0274] The upper connecting portion 1042 is provided at the center portion 1046C of the main frame portion 1046. The upper connecting portion 1042 has a first link portion 1051 and a first hook portion 1052. The first link portion 1051 is provided at the top of the upper connecting portion 1042 and pivotally supports the second end portion 1026 of the top link 1013. The first hook portion 1052 is provided at the rear of the upper connecting portion 1042 and engages and holds the upper engagement portion of the working device U1. In the second embodiment, the first hook portions 1052 are provided at two locations, one above and one below, at the rear of the upper connecting portion 1042. Therefore, the upper engagement portion of the working device U1 can be engaged with the hitch frame 1016 at different heights. Note that the first hook portion 1052 may be provided at only one location at the rear of the upper connecting portion 1042.

[0275] The lower connecting portions 1043 are respectively provided at the lower ends of the left and right side portions 1046S of the main frame portion 1046. Each of the left and right lower connecting portions 1043 has a second link portion 1053 and a second hook portion 1054. The second link portion 1053 is provided on the outer side of the lower connecting portion 1043 and pivotally supports the second end portion 1024 of the lower link 1012. The second hook portion 1054 is provided at the rear of the lower connecting portion 1043 and engages and holds the lower engaging portion of the working device U1.

[0276] The bracket 1044 is a plate body that serves as a mounting portion for the secondary motor 1007, and is provided between the inner portions 1048S of the left and right auxiliary frame portions 1048. The bracket 1044 is made of a metal material containing iron as its main component. The bracket 1044 has a base portion 1055, a side end plate portion 1056, a support shaft portion 1057, a motor receiving frame portion 1058, and a shaft connection portion 1059.

[0277] 33 and 34 , the base plate portion 1055 has a through hole 1060. The through hole 1060 is provided in the center between the left and right sides of the base plate portion 1055. The shaft connection portion 1059 is inserted into the through hole 1060 from the front (the back side of the through hole 1060 when viewed from the rear of the vehicle body 1002).

[0278] The side end plate portions 1056 are formed by bending rearward at the left and right ends of the base portion 1055. The support shaft portions 1057 are formed by protruding outward in the left-right direction from the outer left-right surfaces of the side end plate portions 1056, and are pivotally supported on the inner portions 1048S of the auxiliary frame portions 1048 of the frame main body 1041. In this way, the bracket 1044 is supported rotatably with respect to the frame main body 1041, with the left and right support shaft portions 1057 as fulcrums.

[0279] The motor receiving frame 1058 extends outward in the left-right direction from the base plate 1055. The secondary motor 1007 is fixed to the left and right motor receiving frame 1058. The shaft connecting portion 1059 is a shaft coupling having a first connecting portion 1067 and a second connecting portion 1068. The first connecting portion 1067 is connected to the drive shaft 1007S of the secondary motor 1007 in a rotation-preventing state. On the other hand, the second connecting portion 1068 has a hole shape that allows the driven shaft US of the working device U1 to be fitted in a rotation-preventing state, and transmits power to the driven shaft US in a fitted state. Therefore, when the drive shaft 1007S of the secondary motor 1007 is rotated, the driven shaft US of the working device U1 is also rotated accordingly. In this way, the drive shaft 1007S of the secondary prime mover 1007 is directly connected to the driven shaft US of the working device U1 so as to be capable of transmitting power therethrough.

[0280] As described above, the auxiliary prime mover 1007 is an electric motor that is driven by receiving electric power from the vehicle body 1002. As shown in Figures 34 and 35 , the auxiliary prime mover 1007 has a housing 1070 and a drive shaft 1007S. Note that the auxiliary prime mover 1007 may be a gasoline engine or a hydraulic motor, as long as it is small and lightweight.

[0281] The housing 1070 is formed from a metal material containing iron as a main component. The housing 1070 has a mounting frame portion 1071 and a hanging portion 1072. The housing 1070 is formed in a substantially cylindrical shape and rotatably holds the drive shaft 1007S therein. The mounting frame portion 1071 is provided at a first end of the housing 1070 and is fixed with bolts or the like in a state where it faces the base portion 1055 of the bracket 1044. In other words, the housing 1070 is closely connected to the bracket 1044. The drive shaft 1007S is provided to protrude from the mounting frame portion 1071.

[0282] In this way, the auxiliary prime mover 1007 is supported swingably relative to the frame main body 1041, so that the angle at which the driven shaft US of the working device U1 is connected to the drive shaft 1007S of the auxiliary prime mover 1007 can be adjusted as desired. The mounting frame 1071 may be configured separately from the housing 1070, or may be formed integrally with the housing 1070.

[0283] The hanging section 1072 is provided on the upper outer periphery of the housing 1070 as a connecting section that connects and holds the hanging device 1017. The hanging section 1072 of the second embodiment is provided on the upper outer periphery of the end of the housing 1070 opposite to the mounting frame section 1071. The hanging section 1072 may be configured separately from the housing 1070, or may be formed integrally with the housing 1070. Details of the hanging device 1017 will be described later.

[0284] The protective member 1045 is provided along the outer surface of the housing 1070. More specifically, the protective member 1045 is provided at a position where it contacts both the mounting frame portion 1071 of the housing 1070 and the motor receiving frame portion 1058 of the bracket 1044. In the second embodiment, the protective member 1045 is provided along the joint (the periphery of the mating surface) with the motor receiving frame portion 1058 at the lower outside of the housing 1070.

[0285] The protective member 1045 is a member formed from a metal material having a higher ionization tendency than the base material of the bracket 1044, i.e., a metal material containing a sacrificial anode material as a main component. For example, in the second embodiment, the bracket 1044 is formed from a metal material containing iron as a main component, whereas the protective member 1045 is formed from a metal material containing zinc or aluminum as a main component.

[0286] The protective member 1045 is removably attached to the bracket 1044 with bolts or the like. Therefore, if sacrificial corrosion of the protective member 1045 progresses, it can be replaced with a new protective member 1045 as needed. Note that the protective member 1045 may be removably attached to the housing 1070 or may be removably attached to another portion, as long as it is provided in a position that contacts both the housing 1070 and the bracket 1044. Furthermore, a plurality of protective members 1045 may be arranged side by side so as to contact the entire periphery of the joint between the housing 1070 and the bracket 1044.

[0287] As shown in Figure 35, the suspension device 1017 is connected between the hitch frame 1016 and the secondary motor 1007, and supports the secondary motor 1007 in a swingable manner relative to the hitch frame 1016. The suspension device 1017 in the second embodiment is a tension coil spring. Note that the suspension device 1017 may be a compression coil spring or a leaf spring as long as it can suspend and support the secondary motor 1007 in a stable position relative to the hitch frame 1016. Alternatively, the suspension device 1017 may be an air damper or a hydraulic damper.

[0288] The suspension device 1017 has a first end 1017A and a second end 1017B. The first end 1017A is connected to the rear of the upper connecting portion 1042 of the hitch frame 1016. On the other hand, the second end 1017B is connected to a suspension portion 1072 provided on the upper outer periphery of the housing 1070 of the secondary engine 1007. In other words, the second end 1017B is connected to a position away from the swing center CL1002 of the bracket 1044 on the upper outer periphery of the housing 1070 in the direction of the axis CL1003 of the drive shaft 1007S. Therefore, the secondary motor 1007 is supported at the swing center CL1002 of the bracket 1044, a position away from the swing center CL1002 in the direction of the axis CL1003 of the drive shaft 1007S, and three different points on the upper connecting portion 1042 of the hitch frame 1016 (three points located at each vertex of an imaginary triangle).

[0289] The suspension device 1017 elastically expands and contracts between the first end 1017A and the second end 1017B. Therefore, when an external force is applied to the secondary prime mover 1007 in the swing direction due to its own weight, vibrations during travel, or the like, the suspension device 1017 applies a tensile force (a restoring force against extension) to the secondary prime mover 1007 that resists the external force. This allows the secondary prime mover 1007 to be held in a stable suspended position relative to the hitch frame 1016, and also absorbs the load applied to the connection between the drive shaft 1007S of the secondary prime mover 1007 and the driven shaft US of the working device U1. <Modifications> Note that in the work vehicle 1001 of the above embodiment, the drive shaft 1007S of the secondary prime mover 1007 is connected to the driven shaft US of the working device U1 via the coupling 1066, but it may also be configured so that it can be directly connected to the drive shaft 1007S of the secondary prime mover 1007.

[0290] Specifically, the drive shaft 1007S of the secondary prime mover 1007 may be a hollow shaft with a shaft connecting portion integrally formed at its tip. On the other hand, the driven shaft US of the working device U1 is a shaft body that can be fitted into the shaft connecting portion (inside the shaft of the hollow shaft). The shaft connecting portion has a hole shape that can fit the driven shaft US of the working device U1 in a non-rotational state, and transmits power to the driven shaft US in the fitted state.

[0291] Alternatively, the driven shaft US of the working device U1 may be a hollow shaft with a shaft connecting portion provided at its tip. On the other hand, the drive shaft 1007S of the secondary prime mover 1007 is a shaft that can be fitted into the shaft connecting portion (inside the shaft of the hollow shaft). The shaft connecting portion has a hole shape that can fit the drive shaft 1007S of the secondary prime mover 1007 in a non-rotating state, and transmits power to the drive shaft 1007S in a fitted state. This configuration also provides the same effects as the work vehicle 1001 of the above embodiment.

[0292] Furthermore, although the work vehicle 1001 in the above embodiment has the coupling device 1006 attached to the rear of the vehicle body 1002, the coupling device 1006 may also be attached to the front of the vehicle body 1002. In this work vehicle 1001 as well, if the bracket 1044 is connected to the hitch frame 1016 so as to be able to swing about an axis CL1002 extending in the left-right direction (width direction) of the vehicle body 1002, the working device U1 can be smoothly connected to the vehicle body 1002.

[0293] In the work vehicle 1001 of the above embodiment, the angle at which the driven shaft US of the working device U1 is connected to the drive shaft 1007S of the secondary prime mover 1007 can be adjusted as desired by swinging the secondary prime mover 1007, but a universal joint may be provided on the drive shaft 1007S of the secondary prime mover 1007, and the angle at which the drive shaft 1007S is connected to the driven shaft US may be adjusted as desired by the universal joint 1075. In this way, the drive shaft 1007S of the secondary prime mover 1007 is indirectly connected to the driven shaft US of the working device U1 so that power can be transmitted, thereby achieving the same effects as the work vehicle 1001 of the above embodiment.

[0294] A second aspect of the present invention provides a work vehicle 1001 as described in the following items.

[0295] (Item 3-1) A work vehicle 1001 comprising: a drivable vehicle body 1002; and a coupling device 1006 attached to the vehicle body 1002, the coupling device 1006 having a driven shaft US to which power is input and to which a working device U1 driven by the power input to the driven shaft US is coupled, the coupling device 1006 having a prime mover 1007 having a drive shaft 1007S that outputs power, the drive shaft 1007S of the prime mover 1007 being directly or indirectly coupled to the driven shaft U7 of the working device U1 so as to be able to transmit power.

[0296] According to the work vehicle 1001 relating to this item 3-1, the work device U1 can be driven efficiently by the power of the work motor 1007 provided in the coupling device 1006, and the driving load on the power source on the vehicle body 1002 side is also reduced, thereby improving workability.

[0297] (Item 3-2) The work vehicle 1001 according to Item 3-1, wherein the prime mover 1007 is an electric motor that receives a power supply from the vehicle body 1002 and is driven by the electric motor.

[0298] The work vehicle 1001 according to item 3-2 has higher energy conversion efficiency than a gasoline engine or hydraulic motor as the prime mover 1007, and therefore can drive the work device U1 more efficiently, thereby further improving workability.

[0299] (Item 3-3) The work vehicle 1001 described in Item 3-1 or A2, wherein the coupling device 1006 has a link mechanism 1030 pivotally supported on the vehicle body 1002, and a hitch frame 1016 coupled to the link mechanism 1030 and to which the work device U1 is coupled, and the hitch frame 1016 includes a bracket 1044 to which the prime mover 1007 is attached.

[0300] According to the work vehicle 1001 according to Item 3-3, the prime mover 1007 can be located near the work device U1 connected to the hitch frame 1016, making it possible to more efficiently output the power of the prime mover 1007 to the work device U1. This further improves workability.

[0301] (Item 3-4) The work vehicle 1001 described in Item 3-3, wherein the coupling device 1006 is attached to the front or rear of the vehicle body 1002 in the traveling direction, and the bracket 1044 is coupled to the hitch frame 1016 so as to be swingable about an axis CL1002 extending in the width direction of the vehicle body 1002.

[0302] According to the work vehicle 1001 according to item 3-4, the bracket 1044 swings about the axis CL1002, which distributes the load applied to the connection between the drive shaft 1007S of the prime mover 1007 and the driven shaft US of the working device U1 while the vehicle is traveling, and this makes it possible to more efficiently output the power of the prime mover 1007 to the working device U1. This further improves workability.

[0303] (Item 3-5) The work vehicle 1001 according to item 3-4, wherein the coupling device 1006 has a suspension device 1017 that supports the prime mover 1007 by suspending it swingably from the hitch frame 1016.

[0304] According to the work vehicle 1001 according to item 3-5, the posture of the prime mover 1007 suspended from the hitch frame 1016 can be stabilized by the suspension device 1017, so it is possible to more efficiently output the power of the prime mover 1007 to the work device U1. This further improves workability.

[0305] (Item 3-6) The work vehicle 1001 described in Item 3-5, wherein the suspension device 1017 has a first end 1017A and a second end 1017B opposite the first end 1017A, the first end 1017A being connected to an upper portion of the hitch frame 1016, and the second end 1017B being connected to the prime mover 1007 at a position away from a swing center CL1002 of the bracket 1044 in the direction of the axis CL1003 of the drive shaft 1007S.

[0306] According to the work vehicle 1001 according to item 3-6, the prime mover 1007 can be supported at three different points: the swing center CL1002 of the bracket 1044, a position away from the swing center CL1002 in the direction of the axis CL1003 of the drive shaft 1007S, and the upper part of the hitch frame 1016, thereby making the suspension posture of the prime mover 1007 more stable. This makes it possible to output the power of the prime mover 1007 to the work device U1 more efficiently. This further improves workability.

[0307] (Item 3-7) The work vehicle 1001 according to Item 3-5, wherein the suspension device 1017 is a spring member that applies a predetermined upward tensile force to the motor 1007.

[0308] According to the work vehicle 1001 according to item 3-7, the elastic force of the suspension device 1017 absorbs the load applied to the connection between the drive shaft 1007S of the prime mover 1007 and the driven shaft US of the working device U1 while the vehicle is traveling, making it possible to more efficiently output the power of the prime mover 1007 to the working device U1. This further improves workability.

[0309] (Item 3-8) The work vehicle 1001 according to Item 3-1, wherein the drive shaft 1007S of the prime mover 1007 is engageable with the driven shaft US of the work device U1, and is capable of transmitting power in the engaged state.

[0310] According to the work vehicle 1001 according to item 3-8, the power of the prime mover 1007 can be transmitted directly to the driven shaft US of the work device U1, making it possible to more efficiently output the power of the prime mover 1007 to the work device U1. This further improves workability.

[0311] (Item 3-9) The work vehicle 1001 described in Item 3-8, wherein either the drive shaft 1007S of the prime mover 1007 or the driven shaft US of the working device U1 is a hollow shaft, and the other of the drive shaft 1007S of the prime mover 1007 or the driven shaft US of the working device U1 is a shaft body that can be fitted into the shaft of the hollow shaft.

[0312] According to the work vehicle 1001 according to item 3-9, the power of the prime mover 1007 can be transmitted directly to the driven shaft US of the work device U1, making it possible to more efficiently output the power of the prime mover 1007 to the work device U1. This further improves workability.

[0313] (Item 3-10) The work vehicle 1001 according to Item 3-1 or A2, wherein the coupling device 1006 has a universal joint 1075 that can swingably couple the driven shaft US of the work device U1 to the drive shaft 1007S of the prime mover 1007.

[0314] In the work vehicle 1001 according to item 3-10, the bending of the universal joint 1075 absorbs the load applied to the connection between the drive shaft 1007S of the prime mover 1007 and the driven shaft US of the working device U1 while the vehicle is traveling, making it possible to more efficiently output the power of the prime mover 1007 to the working device U1. This further improves workability.

[0315] (Item 3-11) Work vehicle 1001 according to Item 3-3, wherein motor 1007 has housing 1070 that holds drive shaft 1007S, bracket 1044 has protective member 1045 formed from a metal material that has a higher ionization tendency than a base material of bracket 1044, and protective member 1045 is provided in contact with both housing 1070 and bracket 1044.

[0316] Rainwater and water splashed from the road surface during work are likely to accumulate at the joint between the housing 1070 and the bracket 1044. If water remains at the joint for a long period of time, the housing 1070 and the bracket 1044 may emit electrons and become positively ionized, accelerating the progression of corrosion.

[0317] However, with the work vehicle 1001 according to item 3-11, even if water adheres and accumulates at the joint, the protective member 1045 emits electrons, becomes positively ionized, and corrodes sacrificially before the housing 1070 or the bracket 1044. This makes it possible to delay the occurrence of corrosion at the joint. As a result, stable performance can be achieved over a long period of time.

[0318] (Item 3-12) The work vehicle 1001 according to Item 3-11, wherein the protection member 1045 is detachably connected to the housing 1070 or the bracket 1044.

[0319] According to the work vehicle 1001 relating to item 3-12, even if sacrificial corrosion of the protective member 1045 progresses as described above, it can be replaced with a new protective member 1045 as appropriate, making it possible to achieve more stable performance over a long period of time.

[0320] (Item 3-13) The work vehicle 1001 according to item 3-11, wherein the housing 1070 is closely coupled to the bracket 1044, and the protection member 1045 is disposed below the housing 1070.

[0321] Water flowing down from the surrounding area tends to collect and accumulate below the area where the housing 1070 and bracket 1044 are tightly connected. This makes corrosion more likely to occur. However, with the work vehicle 1001 according to item 3-13, the protective member 1045 is provided below the area where the housing 1070 and bracket 1044 are tightly connected, which makes it possible to delay the occurrence of corrosion in the tight contact area. This allows stable performance to be achieved over a long period of time.

[0322] (Item 4-1) A work vehicle 1001 including a drivable vehicle body 1002, a coupling device 1006 to which a work device U1 is coupled, and a movement mechanism 1080 attached to the vehicle body 1002, which couples and supports the coupling device 1006 so that the coupling device 1006 can move in the width direction of the vehicle body 1002.

[0323] According to the work vehicle 1001 of this item 4-1, the coupling device 1006 can be moved in the left-right direction (width direction) of the vehicle body 1002 to match the target work position, thereby improving workability. Furthermore, according to the work vehicle 1001 of this item 4-1, even if the positional relationship between the vehicle body 1002 and the working device U1 is slightly misaligned in the width direction when coupling the vehicle body 1002 and the working device U1, the coupling device 1006 can be moved in the width direction to match that misalignment, further improving workability.

[0324] (Item 4-2) The work vehicle 1001 described in Item 4-1, wherein the movement mechanism 1080 includes a rail 1082 extending in the width direction, a slider 1083 connected to the rail 1082 so as to be movable in the width direction, and a slider drive device 1084 that moves the slider 1083 along the rail 1082, and the coupling device 1006 is provided on the slider 1083.

[0325] According to the work vehicle 1001 according to this item 4-2, the coupling device 1006 can be moved more smoothly in the width direction, further improving workability.

[0326] (Item 4-3) The work vehicle 1001 according to Item 4-2, wherein the rails 1082 extend in the width direction perpendicular to a vehicle body center line CL1003 that passes through the center in the width direction and extends in the traveling direction of the vehicle body 1002.

[0327] According to the work vehicle 1001 according to this item 4-3, the coupling device 1006 can be moved accurately in the width direction of the vehicle body 1002, further improving workability.

[0328] (Item 4-4) The work vehicle 1001 according to Item 4-2, further comprising a traveling device 1003 that supports the vehicle body 1002 so that the vehicle body 1002 can travel, the traveling device 1003 including a front traveling device 1003F that is disposed at the front of the vehicle body 1002 in the traveling direction, and a rear traveling device 1003R that is disposed at the rear of the vehicle body 1002 in the traveling direction, and the rails 1082 are disposed rearward of the rear traveling device 1003R.

[0329] According to the work vehicle 1001 according to this item 4-4, when the coupling device 1006 is moved in the width direction of the vehicle body 1002, the coupling device 1006 is less likely to come into contact with the rear traveling device 1003R of the vehicle body 1002, further improving workability.

[0330] (Item 4-5) The work vehicle 1001 according to any one of items 4-2 to B4, wherein the coupling device 1006 has a prime mover 1007 that drives the work device U1.

[0331] According to the work vehicle 1001 relating to item 4-5, the work device U1 can be driven efficiently by the power of the prime mover 1007 provided in the coupling device 1006, and the driving load on the power source on the vehicle body 1002 side is also reduced, thereby further improving workability.

[0332] (Item 4-6) The work vehicle 1001 according to Item 4-5, wherein the prime mover 1007 is an electric motor that receives a power supply from the vehicle body 1002 and is driven by the electric motor.

[0333] The work vehicle 1001 according to item 4-6 has higher energy conversion efficiency than a gasoline engine or hydraulic motor as the prime mover 1007, and therefore can drive the work device U1 more efficiently. This further improves workability.

[0334] (Item 4-7) The work vehicle 1001 described in Item 4-5, wherein the coupling device 1006 includes a link mechanism 1030 pivotally supported on a rear portion of the slider 1083, and a hitch frame 1016 coupled to the link mechanism 1030 and coupling the work device U1, and the prime mover 1007 is provided on the hitch frame 1016.

[0335] According to the work vehicle 1001 according to item 4-7, the prime mover 1007 can be positioned near the work device U1 connected to the hitch frame 1016, making it possible to more efficiently output the power of the prime mover 1007 to the work device U1. This further improves workability.

[0336] (Item 4-8) Work vehicle 1001 according to item 4-5, wherein the prime mover 1007 is disposed on a rearward extension line CL1004 at the center in the width direction of the slider 1083.

[0337] According to the work vehicle 1001 relating to item 4-8, the relatively heavy prime mover 1007 is positioned on the rear extension line of the widthwise center of the slider 1083, which allows the slider 1083 to be moved stably in the widthwise direction, thereby further improving workability.

[0338] Next, a third embodiment of the present invention (hereinafter referred to as the third embodiment) will be described with reference to the drawings.

[0339] 36 is a side view showing one embodiment of an agricultural machine 2100. In the third embodiment, the agricultural machine 2100 will be described by taking as an example a work vehicle (tractor) 2001 to which a tilling implement 2002 is attached.

[0340] As shown in Fig. 36 , the agricultural machine 2100 includes a vehicle body 2003. The vehicle body 2003 is provided with a driver's seat 2006 in which an operator sits. In the following description, the direction in which an operator seated in the driver's seat 2006 of the tractor 2001 (agricultural machine 2100) faces (the direction of arrow A1 in Fig. 36 ) is referred to as the forward direction, the opposite direction (the direction of arrow A2 in Fig. 36 ) as the rearward direction, the left side of the operator (the front side of Fig. 36 ) as the left side, and the right side of the operator (the back side of Fig. 36 ) as the right side.

[0341] As shown in Fig. 36 , the agricultural machine 2100 includes a traveling device 2004, a transmission 2005, and an elevator 2008. The agricultural machine 2100 includes a drive source for driving the tilling device 2002, and in the case of the third embodiment, the drive source for driving the tilling device 2002 is an electric motor M1. The agricultural machine 2100 also includes an electric motor M2 as a power source for driving the traveling device 2004. In other words, the agricultural machine 2100 of the third embodiment has separate power sources (drive sources) for driving the tilling device 2002 and for driving the traveling device 2004. The electric motors M1 and M2 are driven by electric power supplied from a power storage device 2030 provided in the vehicle body 2003. The power storage device 2030, the electric motors M1 and M2, the traveling device 2004, and the transmission 2005 are provided on the vehicle body 2003. The lifting device 2008 is provided on the vehicle body 2003, and is connected to the tilling device 2002.

[0342] FIG. 37 is a block diagram showing an outline of the configuration of the agricultural machine 2100. As shown in FIGS. 36 and 37 , the agricultural machine 2100 (tractor 2001) is equipped with a control device 2040. The control device 2040 is a controller for the agricultural machine 2100 and performs various controls related to the agricultural machine 2100. As shown in FIG. 37 , the control device 2040 has a processor 2040a and a storage device 2040b. The processor 2040a is, for example, a CPU (Central Processing Unit). The storage device 2040b is composed of volatile or non-volatile memory, etc. The storage device 2040b includes, for example, an SSD (Solid State Drive) or an HDD (Hard Disk Drive). The storage device 2040b of the control device 2040 stores, in a readable and writable manner, programs and various data used by the control device 2040 to control the operation of each part of the agricultural machine 2100. The processor 2040a reads and executes the above program from the storage device 2040b, thereby realizing the functions of the control device 2040.

[0343] Note that some or all of the configuration of the control device 2040 may be realized by hardware (processing circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between a program (software) and hardware.

[0344] The control device 2040 is communicably connected to a plurality of devices mounted on the agricultural machine 2100 via a network N such as CAN, ISOBUS, LIN, or FlexRay. For example, the control device 2040 controls the operation of each part of the agricultural machine 2100 as shown in Figs. 36 and 37 .

[0345] The power storage device 2030 includes a plurality of battery modules, such as lead batteries or lithium ion batteries, each including a plurality of battery cells (lithium ion batteries) electrically connected (in series), and a battery case that houses the plurality of battery modules. In other words, the power storage device 2030 is a battery pack in which the plurality of battery modules are housed in a battery case and the plurality of battery modules are electrically connected (in series, for example).

[0346] The electric motors M1 and M2 are driven by electric power supplied from the power storage device 2030. The electric motors M1 and M2 are, for example, three-phase AC synchronous motors with embedded permanent magnets.

[0347] As shown in FIG. 37 , the agricultural machine 2100 includes an inverter 2031, a junction box 2032, a DC / DC converter 2033, and a charger 2034. The inverter 2031 is electrically connected to the electric motor M1 and the junction box 2032. The inverter 2031 converts DC power supplied from the power storage device 2030 via the junction box 2032 into three-phase AC power and supplies it to the electric motors M1 and M2. In other words, the electric motors M1 and M2 are connected to the power storage device 2030 via the inverter 2031. The inverter 2031 can arbitrarily change the current and voltage of the power supplied to the electric motors M1 and M2. The control device 2040 controls the operation of the inverter 2031 to drive or stop the electric motors M1 and M2. Furthermore, the control device 2040 can control the operation of the inverter 2031 to change the power output and / or rotation speed generated by the electric motors M1 and M2.

[0348] The DC / DC converter 2033 is connected to the power storage device 2030 and converts the voltage of the DC power supplied from the power storage device 2030 into a different voltage. In the third embodiment, the DC / DC converter 2033 is a step-down converter that converts an input voltage into a lower voltage. The DC / DC converter 2033 supplies power to, for example, a low-voltage battery 2035 that supplies power to electronic devices provided in the tractor 2001.

[0349] Charger 2034 is electrically connected to junction box 2032. Charger 2034 has a connector that can be fitted with a charging cable, a rectifier that converts three-phase AC power into DC power, and an electronic circuit that adjusts the current and voltage of the DC power supplied to junction box 2032. When a charging cable is fitted into the connector, charger 2034 converts three-phase AC power input from an external power supply via the charging cable into DC power and supplies the DC power to junction box 2032. Power storage device 2030 can be charged by power supplied from the external power supply via charger 2034.

[0350] 36 , the traveling device 2004 supports the vehicle body 2003 so that it can travel. In the third embodiment, the traveling device 2004 has a pair of left and right front wheels 2004F and a pair of left and right rear wheels 2004R that are driven to rotate, and is driven by power generated by an electric motor M2. The front wheels 2004F and the rear wheels 2004R may be of a tire type or a crawler type.

[0351] The transmission 2005 is connected to the drive shaft of the electric motor M2. Therefore, the power output by the electric motor M2 is transmitted to the transmission 2005, and the traveling device 2004 is driven by the power that has been changed in speed by the transmission 2005. Note that the front wheels 2004F and / or the rear wheels 2004R may be driven by power generated by a single electric motor M2, or the front wheels 2004F and the rear wheels 2004R may be driven by separate electric motors M2. Furthermore, the pair of front wheels 2004F and the pair of rear wheels 2004R may each be driven by a separate electric motor M2.

[0352] As shown in FIG. 37 , the tractor 2001 is equipped with a steering device 2011. The steering device 2011 has a steering wheel 2011a, a rotating shaft (steering shaft) 2011b that rotates in conjunction with the rotation of the steering wheel 2011a, and an assist mechanism (power steering mechanism) 2011c that assists in steering the steering wheel 2011a. The assist mechanism 2011c includes a hydraulic pump 2021, a control valve 2022 to which hydraulic oil discharged from the hydraulic pump 2021 is supplied, and a steering cylinder 2023 operated by the control valve 2022. The control valve 2022 is an electromagnetic valve that operates based on a control signal input from a control device 2040. The control valve 2022 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 2022 can also be switched by steering the steering shaft 2011b. The front wheels 2004F are supported by a front axle 2021F. The steering cylinder 2023 is connected to an arm (knuckle arm) 2024 that changes the direction of the front wheels 2004F.

[0353] Therefore, when the steering wheel 2011a is operated, the switching position and opening degree of the control valve 2022 are switched in accordance with the steering wheel 2011a, and the steering cylinder 2023 extends or retracts to the left or right in accordance with the switching position and opening degree of the control valve 2022, thereby changing the steering direction (steering angle) of the front wheels 2004F. In this way, the traveling device 2004 can change the degree of straightness of the vehicle body 2003. Note that the above-described steering device 2011 is an example, and is not limited to the above-described configuration. Furthermore, it is sufficient for the traveling device 2004 to change the degree of straightness of the vehicle body 2003 by changing at least the steering angle, and for example, the steering angle may be changed by generating a rotation difference between the left and right front wheels 2004F and rear wheels 2004R.

[0354] 37 , the tractor 2001 (agricultural machine 2100) is equipped with a steering angle detection device 2071. The steering angle detection device 2071 detects the steering angle of the traveling device 2004 or the steering device 2011. For example, the steering angle detection device 2071 is configured by a potentiometer (angle sensor) provided in the steering device 2011 (handle 2011 a).

[0355] It should be noted that the steering angle detection device 2071 is only required to be able to detect the steering angle of the vehicle body 2003, and may include a calculator to detect (calculate) the steering angle of the traveling device 2004 based on a control signal input to the control valve 2022. The steering angle detection device 2071 outputs the detection result (steering angle) to the control device 2040 periodically or at a predetermined timing. In the following description, the steering angle is set to zero when the tractor 2001 is traveling straight (when traveling straight), and will be described as the absolute value of the deviation from the steering angle when traveling straight unless otherwise specified.

[0356] The tillage implement 2002 is an implement for performing work (plowing) in a field. In the third embodiment, the tillage implement 2002 is detachably attached to an elevator device 2008 provided on a vehicle body 2003. The tillage implement 2002 has a rotationally driven tillage tine 2002A. The tillage tine 2002A is rotationally driven by power generated by a drive source (electric motor M1). Therefore, the tillage implement 2002 is driven by the power generated by the electric motor M1 to perform work (plowing) in the field. Specifically, the tillage implement 2002 receives power output from the electric motor M1 via a PTO shaft 2016 provided so as to protrude rearward from the rear of the vehicle body 2003.

[0357] The tillage implement 2002 has, in addition to the tillage tines 2002A described above, a tine shaft 2002B and a tillage cover 2002C. The tine shaft 2002B rotates in the direction of arrow Y1 in FIG. 36 by power transmitted by the PTO shaft 2016. The tillage tines 2002A are attached to the tine shaft 2002B and rotate around the axis of the tine shaft 2002B, penetrating the soil (ground surface G) of the field to till the soil and eject the tilled soil rearward. The tillage cover 2002C is a cover that covers the tillage tines 2002A. The tillage cover 2002C covers the upper and rear sides of the tillage tines 2002A and the rear sides of the lower ends of both sides of the tillage tines 2002A in the vehicle width direction, and a ground leveling cover is detachably attached to the lower end side. The tillage cover 2002C is pivotally supported around a pivot axis extending in the vehicle width direction and can swing vertically. The tillage cover 2002C is urged downward by a shot-down device 2002D provided on the tillage device 2002.

[0358] As shown in FIG. 37 , the tillage implement 2002 may be equipped with a work control device 2002a. The work control device 2002a is a controller for the tillage implement 2002 and performs various controls of the tillage implement 2002. Like the control device 2040, the work control device 2002a has a processor (CPU) and a storage device (memory), and detailed description of these components will be omitted. In the third embodiment, the tractor 2001 has a connection unit 2080, and the work control device 2002a of the tillage implement 2002 is connected to the network N via the connection unit 2080. Note that in the third embodiment, the control device 2040 is connected to the work control device 2002a via the connection unit 2080 via a wired connection. However, the control device 2040 may also be connected to the work control device 2002a wirelessly via the connection unit 2080, and the communication method is not limited.

[0359] The lifting device 2008 connects the tilling implement 2002 to the vehicle body 2003 so that the tilling implement 2002 can be raised and lowered. The lifting device 2008 is provided at the rear of the vehicle body 2003 and is configured with a three-point link mechanism or the like. Therefore, the vehicle body 2003 can tow the tilling implement 2002 by connecting the tilling implement 2002 to the lifting device 2008. Note that in addition to the tilling implement 2002, work implements such as a spraying device or a mowing device can be detachably connected to the lifting device 2008.

[0360] FIG. 38 is a perspective view showing the lifting device 2008. To explain the lifting device 2008 in detail, as shown in FIG. 38, the lifting device 2008 has a lift arm 2008a, a lower link 2008b, a top link 2008c, a lift rod 2008d, and a lift cylinder 2008e. The lifting device 2008 is switchable between an operating state C1 in which the tilling tool 2002 is lowered and the tilling tool 2002 performs work, and a non-operating state C2 in which the tilling tool 2002 is raised and the tilling tool 2002 does not perform work. The front end of the lift arm 2008a is supported on the upper rear part of the vehicle body 2003 so as to be swingable upward or downward. The lift arm 2008a swings (lifts and lowers) by driving the lift cylinder 2008e.

[0361] The lift cylinder 2008e is composed of a hydraulic cylinder. The lift cylinder 2008e is connected to a hydraulic pump 2021 (Figure 37) via a control valve 2019 (Figure 37). The control valve 2019 is an electromagnetic valve that operates in response to an applied current (control signal) and extends or retracts the lift cylinder 2008e. The control valve 2019 operates in response to a control signal (current value) input from the control device 2040 and controls the operation of the lift cylinder 2008e.

[0362] The control valve 2019 is operated by a control signal to switch between supplying hydraulic oil to the lift cylinder 2008e and discharging hydraulic oil from the lift cylinder 2008e. Specifically, when hydraulic oil is supplied from the hydraulic pump 2021 to the lift cylinder 2008e via the control valve 2019, the lift cylinder 2008e extends. On the other hand, when hydraulic oil is discharged from the lift cylinder 2008e via the control valve 2019 due to the weight of the tilling implement 2002 (work implement) connected to the lifting device 2008, the lift cylinder 2008e contracts.

[0363] As shown in Figure 38, the front end of lower link 2008b is supported at the rear lower part of the vehicle body 2003 so as to be able to swing upward or downward. The front end of top link 2008c is supported at the rear part of the vehicle body 2003 above lower link 2008b so as to be able to swing upward or downward. Lift rod 2008d connects lift arm 2008a and lower link 2008b. The rear part of lower link 2008b and the rear part of top link 2008c are connected to the tillage implement 2002.

[0364] Figures 39A to 39C show the operation of the lifting device 2008. As shown in Figures 39A to 39C, when the lift cylinder 2008e extends and retracts, the lift arm 2008a rises and lowers, and the lower link 2008b, which is connected to the lift arm 2008a via the lift rod 2008d, rises and lowers. This allows the lifting device 2008 to switch between a working state C1, in which the tilling tool 2002 is working, and a non-working state C2, in which the tilling tool 2002 is not working. At this time, the tilling tool 2002 swings (lifts and lowers) upward or downward, with the front of the lower link 2008b as a fulcrum.

[0365] Fig. 39A shows a state in which the lifting device 2008 has lowered the tilling device 2002 to its maximum extent. Fig. 39C shows a state in which the lifting device 2008 has raised the tilling device 2002 to its maximum extent. In other words, the lifting device 2008 lowers the tilling device 2002, and the state transitions in the order of Fig. 39A, Fig. 39B, and Fig. 39C. Furthermore, the lifting device 2008 raises the tilling device 2002, and the state transitions in the order of Fig. 39C, Fig. 39B, and Fig. 39A.

[0366] The control device 2040 can change the power output that rotates and drives the tiller tines 2002A of the tiller tines 2002. As described above, the tiller tines 2002 can perform work (tilling work) by using the power of the electric motor M1 as a drive source to rotate and drive the tiller tines 2002A. Specifically, when the control device 2040 inputs a control signal to the inverter 2031, the inverter 2031 changes the current and voltage of the power supplied to the electric motor M1, thereby changing the power output generated by the electric motor M1. Changing the power output generated by the electric motor M1 changes the power output and / or rotation speed transmitted from the electric motor M1 to the PTO shaft 2016, thereby changing the rotation speed V of the tiller tines 2002A. In other words, the control device 2040 can arbitrarily change the rotation speed V of the tiller tines 2002A by controlling the output of the electric motor M1 via the inverter 2031.

[0367] 40A to 40D, the problems of the third embodiment will be described below. In working state C1 in which tilling work is being performed in a field, one end of the tiller tine 2002A digs into the ground G and is driven to rotate, thereby digging up the soil. As shown in FIG. 40A, the lowest point P of the tiller tine 2002A (the lowest point of the rotation trajectory of the tip of the tiller tine 2002A) is located below the ground G, and the tiller tine 2002A is driven to rotate, causing the tiller implement 2002 to perform tilling work.

[0368] As shown in Figure 40B, in the non-working state C2 where no tilling work is being performed, the lowest point P of the tilling tine 2002A is located above the ground surface G, one end of the tilling tine 2002A does not touch the ground surface G, and the soil is not dug up.

[0369] FIG. 40C shows the trajectory of the lowest point P when transitioning from working state C1 to non-working state C2. In this figure, the ground surface G is used as the reference (zero), and the lowest point P is shown as a positive value when it is above ground surface G and as a negative value when it is below ground surface G. As shown in FIG. 40C , as the working state C1 transitions to non-working state C2, the position of the lowest point P rises (section T1). If the same power as in working state C1 is transmitted to the tiller 2002A during the transition from working state C1 to non-working state C2, in the section (section T2) where the lowest point P is below ground surface G, the soil dug up as the tiller 2002A rises may be thrown behind the tiller 2002A, leaving a tillage mark on the ground surface G ( FIG. 40D ). An example of a tillage mark is a trench deeper than the ground surface G. In addition to furrows, hills higher than the ground G can also be exemplified as plow marks.

[0370] To solve this problem, the control device 2040 performs a reduction process to gradually reduce the output of power that rotates the tiller tines 2002A as the tiller transitions from a working state C1, in which the tiller 2002 is working, to a non-working state C2, in which the lifting device 2008 raises the tiller 2002 and the tiller 2002 is not working. This prevents tillage marks from being formed on the ground G.

[0371] 37 , the control device 2040 has a reduction processing unit 2041. The reduction processing unit 2041 is a program stored in, for example, the storage device 2040b and executed by the processor 2040a. The reduction processing unit 2041 controls the output and / or rotational speed of power transmitted from the electric motor M1, which serves as a drive source, to the tillage tines 2002A, and gradually reduces the rotational speed V of the tillage tines 2002A. The control device 2040 (reduction processing unit 2041) continuously reduces the rotational speed V of the tillage tines 2002A, for example.

[0372] 37 , the agricultural machine 2100 is equipped with a height detection device 2072 that detects height information h of the lifting device 2008 and / or the tilling device 2002 from the field. The height of the lifting device 2008 from the field is the height of a predetermined reference position of the lifting device 2008 (e.g., the rear end of the lower link 2008 b) from the field, and the height of the tilling device 2002 from the field is the height of a predetermined reference position of the tilling device 2002 from the field (e.g., the lowest point P). The height information h is information that indicates a fluctuation (tendency) in whether the height of at least the lifting device 2008 and / or the tilling device 2002 from the field is increasing or decreasing.

[0373] The height information h may be information that indicates the height itself of the lifting device 2008 and / or the tillage implement 2002 from the field. The control device 2040 performs a lowering process based on the height information h detected by the height detection device 2072. Specifically, when the control device 2040 determines that the working state C1 is being transitioned to the non-working state C2, the control device 2040 gradually reduces the rotational speed V of the tillage tines 2002A based on the height information h as the height of the lifting device 2008 and / or the tillage implement 2002 from the field increases.

[0374] The height detection device 2072 is, for example, a detection device such as a cylinder stroke sensor that detects the extension and contraction of the lift cylinder 2008e or a potentiometer that detects the swing angle of the lift arm 2008a. The control device 2040 detects the extension and contraction state of the lift cylinder 2008e based on the detection results of the detection device, and obtains height information h from the extension and contraction state of the lift cylinder 2008e.

[0375] Furthermore, the height detection device 2072 may have a configuration including a processor (CPU) and a storage device (memory) in addition to the cylinder stroke sensor or potentiometer, and the storage device may store a program for performing arithmetic processing. In such a case, the height detection device 2072 detects, as height information h, information indicating the height of the lifting device 2008 and / or the tilling device 2002 from the field.

[0376] The height detection device 2072 detects height information h by executing a program that uses the value detected by the potentiometer or stroke sensor as an input parameter and converts (calculates) the height from the ground G to the lifting device 2008 (tiller 2002). Alternatively, the height information h may be detected by executing a program that uses the operation amount of the control device 2050 (described later) as an input parameter and converts (calculates) the height from the ground G to the lifting device 2008. Alternatively, the tillage depth X calculated by the tillage depth calculation unit 2042 (described later) may be used as the height information h.

[0377] Furthermore, the height detection device 2072 may be a laser sensor that detects the height from the lifting device 2008 to the ground G (field). In such a case, the height detection device 2072 detects the height from the ground G to the tilling device 2002. Furthermore, a plurality of height detection devices 2072 may be provided, and both the height from the ground G to the lifting device 2008 and the height from the ground G to the tilling device 2002 may be detected.

[0378] The height detection device 2072 outputs the detection result (height information h) to the control device 2040 periodically or at a predetermined timing.

[0379] Figure 41A is a diagram showing the relationship between the height from the ground G to the tillage implement 2002 and the rotational speed V of the tines 2002A. As shown in Figure 41A, as the working state C1 transitions to the non-working state C2 and the height from the ground G to the tillage implement 2002 (height information h) increases, the control device 2040 continuously reduces the rotational speed V of the tines 2002A until the rotational speed V of the tines 2002A decreases to zero. The rotational speed V of the tines 2002A is monotonically proportional to the height from the ground G to the tillage implement 2002 (height information h).

[0380] The relationship between the height from the ground G to the tiller 2002 (height information h) and the rotational speed V of the tiller tine 2002A may be a curve rather than a substantially linear line as shown in FIG. 41A . In such a case, the control device 2040 may first reduce the rotational speed V of the tiller tine 2002A relatively rapidly as the height from the ground G to the tiller tine 2002 (height information h) increases, and then reduce the rotational speed V of the tiller tine 2002A relatively gradually. In other words, the rotational speed V of the tiller tine 2002A decreases exponentially with respect to the height from the ground G to the tiller tine 2002 (height information h). Conversely, the control device 2040 may relatively gradually reduce the rotational speed V of the tiller tines 2002A as the height (height information h) from the ground G to the tiller tines 2002 increases, and then relatively rapidly reduce the rotational speed V of the tiller tines 2002A. Furthermore, the relationship between the height (height information h) from the ground G to the tiller tines 2002A and the rotational speed V of the tiller tines 2002A does not have to be continuous, and the control device 2040 may reduce the rotational speed V of the tiller tines 2002A in stages as the height (height information h) from the ground G to the tiller tines 2002 increases, as shown in FIG. 41B , for example.

[0381] The storage device 2040b pre-stores a conversion map T that associates an arithmetic expression with a calculation coefficient α of the rotational speed V of the tines 2002A corresponding to the height information h. The calculation expression for the rotational speed V is defined as V=αV1, where V1 is the rotational speed of the tines 2002A instructed by the operation signal of the control device 2050 and V1 is multiplied by the calculation coefficient α. As shown in FIG. 41C , the conversion map T is stored as table-format data. The calculation coefficient α is defined as α=1 when the height information h is equal to or less than a predetermined value h1 (the value when the control device 2040 determines that a lowering process should be performed). The calculation coefficient α decreases as the height information h increases. The calculation coefficient α is defined as α=0 when the height information h is equal to or greater than a predetermined value hx.

[0382] Alternatively, a software program in which the height information h is converted into a function as an input parameter may be stored in the storage device 2040b, and the value of the rotation speed V may be acquired by the reduction processing unit 2041 executing the software program.

[0383] When height information h detected by the height detection device 2072 is input, the reduction processing unit 2041 references the conversion map T to obtain the value of the corresponding calculation coefficient α and executes a calculation formula to obtain the value of the rotation speed V. The reduction processing unit 2041 inputs a control signal to the inverter 2031 to control the power supplied to the electric motor M1, thereby changing the power output or rotation speed generated by the electric motor M1 and changing (reducing) the rotation speed V of the tiller tines 2002A. Note that the reduction processing unit 2041 obtains the value of the rotation speed V based on the height information h and controls the electric motor M1, but the method of obtaining the value is not limited to the example described above. For example, the reduction processing unit 2041 may reduce the rotation speed V of the tiller tines 2002A based on the elapsed time since the reduction processing was executed.

[0384] Before the reduction processing is performed by the reduction processing unit 2041, the control device 2040 determines whether the tilling implement 2002 will transition from the working state C1 to the non-working state C2. The control device 2040 determines whether to perform the reduction processing based on the state of the agricultural machine 2100.

[0385] Fig. 42 is a basic flowchart according to the third embodiment. As shown in Fig. 42, the control device 2040 acquires the state of the agricultural machine 2100 (Step 1), and determines whether or not to perform the lowering process (Step 2). When the control device 2040 determines that the lowering process should be performed (Step 2: Yes), the lowering processing unit 2041 acquires height information h and performs the lowering process based on the acquired height information h (Step 3).

[0386] The control device 2040 determines whether or not to perform reduction processing by the reduction processing unit 2041 based on, for example, the steering angle as the state of the agricultural machine 2100. Here, when the steering angle becomes relatively large and the vehicle body 2003 turns, the agricultural machine 2100 transitions from the normal working state C1 to the non-working state C2 in order to turn smoothly and to prevent damage to the tiller implement 2002. Therefore, based on the turning (steering angle) of the vehicle body 2003, it is possible to determine whether or not the agricultural machine 2100 will transition from the working state C1 to the non-working state C2. For this reason, when the steering angle is equal to or greater than a predetermined value, the control device 2040 determines that the agricultural machine 2100 is transitioning from the working state C1 to the non-working state C2, and performs reduction processing.

[0387] As shown in Fig. 43, the control device 2040 acquires the steering angle of the vehicle body 2003 from the steering angle detection device 2071 (Step 1a). The control device 2040 determines whether the steering angle is equal to or greater than a predetermined value (Step 2a). If the steering angle is equal to or greater than the predetermined value (Step 2a: Yes), the control device 2040 determines that reduction processing should be performed, and transitions to step Step 3. The control device 2040 (reduction processing unit 2041) performs reduction processing based on the acquired height information h (Step 3). If the steering angle is not equal to or greater than the predetermined value (Step 2a: No), the process returns to step Step 1a.

[0388] In the above example, the control device 2040 performs the reduction process when the steering angle is equal to or greater than a predetermined value, but the conditions are not limited to the above. For example, the control device 2040 may be configured to perform the reduction process when the steering angle has been increasing or decreasing for a predetermined period of time. In other words, the control device 2040 may be configured to perform the reduction process when the vehicle body 2003 has been turning in a predetermined direction for a predetermined period of time.

[0389] <First Modification> Furthermore, in the above-described embodiment, the case where the control device 2040 determines whether or not to perform the reduction processing based on the steering angle as the state of the agricultural machine 2100 has been described. However, the control device 2040 may determine whether or not to perform the reduction processing based on the field map MP indicating the field and the position of the control device 2040 itself (the vehicle body 2003) instead of or in addition to the steering angle.

[0390] In such a case, the agricultural machine 2100 is equipped with a position detection device 2060, as shown in FIG. 37 . The position detection device 2060 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the position detection device 2060 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites, and detects the position (e.g., latitude and longitude) of the tractor 2001 (body 2003), i.e., the body position, based on the satellite signals. The position detection device 2060 includes a positioning device 2061 and an inertial measurement unit (IMU) 62. The positioning device 2061 is a device that has an antenna and receives satellite signals transmitted from positioning satellites, and is attached to the vehicle body 2003 separately from the inertial measurement unit 2062. In this embodiment, as shown in Fig. 36, the positioning device 2061 is attached to the top of a ROPS provided on the vehicle body 2003. Note that the attachment position of the positioning device 2061 is not limited to the above position, and it may be in the center of the hood, or, if the vehicle body 2003 is provided with a protection mechanism such as a cabin, it may be attached to the top of the protection mechanism, or it may be attached to the tillage implement 2002.

[0391] The inertial measurement unit 2062 has an acceleration sensor that detects the acceleration of the vehicle body 2003, a gyro sensor that detects the angular velocity of the vehicle body 2003, and the like. The inertial measurement unit 2062 is provided in the vehicle body 2003, for example, below the driver's seat 2006. The inertial measurement unit 2062 can detect the roll angle, pitch angle, yaw angle, and the like of the vehicle body 2003.

[0392] In this modification, the position detection device 2060 is a position detection device 2060 that detects the position of the vehicle body 2003 based on satellite signals. However, the position detection device 2060 is not limited to the above configuration as long as it can detect the position of the vehicle body 2003. For example, the position detection device 2060 may be a device that detects the position of the vehicle body 2003 based on acceleration detected by the inertial measurement unit 2062 and predetermined position information. The position detection device 2060 may also be a laser sensor, i.e., a LiDAR (Light Detection And Ranging) sensor. A laser sensor (LIDAR) emits pulsed infrared light or the like millions of times per second and measures the time it takes for the light to bounce back, thereby estimating a 3D map of the area around the vehicle body 2003 and the position of the vehicle body 2003 on the 3D map.

[0393] The agricultural machine 2100 is equipped with a storage device 2040b that stores a field map MP that shows the field. FIG. 44 is a diagram illustrating the field map MP and the planned travel line L. The field map MP is data that shows the contour (outline) H1 of the field. The field map MP is defined, for example, by a travel trajectory obtained by the agricultural machine 2100 traveling around the field and detecting multiple vehicle positions using the position detection device 2060. The field map MP is associated with field identification information (for example, "field") that identifies the field, and is stored in the storage device 2040b. Note that the method of defining the field map MP is not limited to the method described above. For example, the field map MP may be defined using position information of the field's endpoints measured by a terminal capable of acquiring positioning information. In this case, the field map MP is stored in the storage device 2040b via wireless or wired communication or a storage medium. The data format of the field map MP may be data represented by position (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), data represented as a 3D map showing a 3D shape, or data represented in other ways.

[0394] As shown in Figure 44, the field map MP includes a turning area E1 in which the agricultural machine 2100 (body 2003) turns. The turning area E1 is, for example, an area (headland area) surrounded by an outline Co2 that is offset inward from an outline Co1 of the field map MP by a distance equal to a headland width W1. The headland width W1 is a value that is input (defined) by the operator through a predetermined operation, and is stored in advance in the storage device 2040b. In addition to the turning area E1, the field map MP also includes a work area E2 outside the turning area E1, where work (plowing work) is performed.

[0395] The control device 2040 determines whether to perform lowering processing based on the position of the vehicle body 2003 on the field map MP. The vehicle body 2003 turns when it is located in the turning area E1 defined on the field map MP. As described above, when the vehicle body 2003 turns, the agricultural machine 2100 raises the tilling implement 2002 and transitions to the non-working state C2 in order to turn smoothly and prevent damage to the tilling implement 2002. Therefore, when the vehicle body 2003 approaches the turning area E1, it can be determined that the agricultural machine 2100 will transition from the working state C1 in which tilling work is performed to the non-working state C2 in which the tilling implement 2002 is raised and no work is performed. Therefore, when the vehicle body 2003 is approaching the vicinity of the turning area E1 or located in the turning area E1, the control device 2040 determines that the agricultural machine 2100 is transitioning from the working state C1 to the non-working state C2, and performs lowering processing.

[0396] As shown in Figure 45, the control device 2040 acquires the vehicle body position of the vehicle body 2003 from the position detection device 2060 (Step 1b). The control device 2040 references the field map MP stored in the storage device 2040b and determines whether the vehicle body position of the vehicle body 2003 is approaching the vicinity of the turning area E1 (Step 2b). If the vehicle body position of the vehicle body 2003 is approaching the vicinity of the turning area E1 (Step 2b: Yes), the control device 2040 determines that a lowering process should be performed and transitions to step Step 3. If the vehicle body position of the vehicle body 2003 is not approaching the vicinity of the turning area E1 (Step 2b: No), the control device 2040 returns to step Step 1b.

[0397] In step Step 2b, the determination condition may be whether the vehicle body position of the vehicle body 2003 is located in the turning area E1. Also, the determination condition may be at least one of the vehicle body position of the vehicle body 2003 being close to the turning area E1 and being located in the turning area E1.

[0398] <Second Modification> In the first modification, the case where the control device 2040 determines whether or not to perform the reduction processing based on the field map MP and the position of the vehicle body 2003 as the state of the agricultural machine 2100 has been described. However, the control device 2040 may determine whether or not to perform the reduction processing based on the planned travel line L and the position of itself (the vehicle body 2003) instead of or in addition to the state of the agricultural machine 2100 described above.

[0399] Unlike the first modification, the storage device 2040b of the second modification stores a planned travel line L, which is defined in the field and is a route along which the vehicle body 2003 will travel. The planned travel line L is stored in association with the field map MP. The planned travel line L includes a straight section L1 along which the vehicle body 2003 travels straight and a turning section L2 along which the vehicle body 2003 turns. The straight section L1 is created mainly in the work area E2, and the turning section L2 is created mainly in the turning area E1. For example, the planned travel line L is defined by a calculation program using graph theory with the field map MP, the work start point ST, and the work end point ED as input parameters. When the operator performs a predetermined operation, the control device 2040 executes the calculation program to calculate the planned travel line L and stores the calculated planned travel line L in the storage device 2040b. The method for defining the planned travel line L is not limited to the above configuration, and for example, the operator may manually define the planned travel line L using a touch panel provided on the agricultural machine 2100. Furthermore, the calculation (definition) of the planned travel line L may be performed by a server or terminal external to the agricultural machine 2100. In this case, the planned travel line L is stored in the storage device 2040b via wireless or wired communication or a storage medium.

[0400] The control device 2040 determines whether to perform lowering processing based on the position of the vehicle body 2003 on the planned travel line L. The vehicle body 2003 turns when it is located in the turning section L2 defined on the planned travel line L. As described above, when the vehicle body 2003 turns, the agricultural machine 2100 raises the tilling implement 2002 and transitions to the non-working state C2 in order to turn smoothly and prevent damage to the tilling implement 2002. Therefore, when the vehicle body 2003 is located in the turning section L2, it can be determined that the agricultural machine 2100 will transition from the working state C1 in which tilling work is performed to the non-working state C2 in which the tilling implement 2002 is raised and no work is performed. Therefore, when the vehicle body 2003 is located in the turning section L2, the control device 2040 determines that the agricultural machine 2100 is transitioning from the working state C1 to the non-working state C2, and performs lowering processing.

[0401] As shown in Fig. 46, the control device 2040 acquires the body position of the body 2003 from the position detection device 2060 (Step 1c). The control device 2040 references the planned travel line L stored in the storage device 2040b and determines whether the body position of the body 2003 is located in the turning section L2 (Step 2c). If the body position of the body 2003 is located in the turning section L2 (Step 2c: Yes), it determines that lowering processing should be performed and transitions to step Step 3. If the body position of the body 2003 is not located in the turning section L2 (Step 2c: No), the process returns to step Step 1c.

[0402] In the second variant example described above, the control device 2040 performs the reduction process when the vehicle body 2003 is located in the turning section L2, but the reduction process may also be performed when, for example, the vehicle body 2003 is located in the straight section L1 and is approaching the vicinity of the turning section L2.

[0403] <Third Modification> In the second modification, the control device 2040 determines whether or not to perform the lowering process based on the planned travel line L and the position of the vehicle body 2003 as the state of the agricultural machine 2100. However, instead of or in addition to the state of the agricultural machine 2100 described above, the control device 2040 may determine whether or not to perform the lowering process based on the type of operating tool used to operate the tilling implement 2002.

[0404] As shown in FIG. 37 , the agricultural machine 2100 is equipped with a control device 2050 that can mainly operate the raising and lowering of the tillage implement 2002. In the third embodiment, the control device 2050 includes a first operating tool 2051, a setting member 2050a, and a second operating tool 2052a. The control device 2040 operates the control valve 2019 based on an operation signal input from the control device 2050. In other words, the control device 2040 can drive the lift cylinder 2008e connected to the control valve 2019. The control device 2040 can adjust the height of the tillage implement 2002 by driving the lift cylinder 2008e.

[0405] The agricultural machine 2100 is equipped with a first operating tool 2051 that operates the lifting device 2008 to raise the tillage implement 2002 to a desired height. The first operating tool 2051 is a member (position lever) that controls the raising and lowering of the tillage implement 2002. By operating the first operating tool 2051, the angle of the lift arm 2008a (second set angle) can be set. As shown in FIG. 39C , as the angle of the lift arm 2008a increases, the height of the tillage implement 2002 increases in proportion to the angle of the lift arm 2008a. In other words, by operating the first operating tool 2051, the operator can set the height (second set position) of the tillage implement 2002 to a desired position.

[0406] The setting member 2050a is, for example, a dial-shaped switch that sets the upper limit angle (first set angle) of the angle of the lift arm 2008a. In other words, the setting member 2050a is a member that sets the upper limit height (first set position) of the tillage implement 2002. The amount of operation of the setting member 2050a is proportional to the first set angle (first set position), and by adjusting the amount of operation of the setting member 2050a, the upper limit angle of the lift arm 2008a (the upper limit height of the tillage implement 2002) can be set as desired. The setting member 2050a may also be a selector switch with multiple switching positions.

[0407] The setting values ​​(second set angle, second set position) set by the first operating device 2051 are input to the control device 2040. The setting values ​​(first set angle, first set position) set by the setting member 2050a are also input to the control device 2040. The control device 2040 controls the control valve 2019 based on the detection results of the cylinder stroke sensor or potentiometer (such as the current angle of the lift arm 2008a or the height of the tiller implement 2002) and the setting values ​​(first set angle, first set position, second set angle, second set position).

[0408] The lift switch 2052 is a member operated to raise or lower the tillage implement 2002 to a predetermined set height. An operation signal of the lift switch 2052 is input to the control device 2040. The lift switch 2052 includes a second operating device (up switch) 2052a and a down switch 2052b. In other words, the agricultural machine 2100 is equipped with a second operating device 2052a that is different from the first operating device 2051 and that operates the lifting device 2008 to raise the tillage implement 2002 to a predetermined height. When the lift switch 2052 is operated, the control device 2040 controls the control valve 2019 based on the detection result of the cylinder stroke sensor or potentiometer and the set values ​​(first set angle, first set position, second set angle, second set position). When the second operating tool 2052a is operated, the tilling tool 2002 is raised to the upper limit height (first set position) set by the setting member 2050a, while when the lowering switch 2052b is operated, the tilling tool 2002 is lowered to the position (second set position) set by the first operating tool 2051.

[0409] The first operating device (position lever) 2051 can be operated both to adjust the height of the tilling implement 2002 while maintaining the working state C1, and to transition from the working state C1 to the non-working state C2. Meanwhile, the second operating device (raise switch) 2052a raises the tilling implement 2002 to a predetermined height (first set position) previously set by the setting member 2050a. Therefore, when the second operating device 2052a is operated, it can be determined that the tilling implement 2002 will transition from the working state C1 to the non-working state C2. Therefore, the control device 2040 performs a lowering process when the second operating device 2052a is operated to raise the tilling implement 2002.

[0410] 47, the control device 2040 determines whether the second operating tool 2052a has been operated (Step 2d). Specifically, the control device 2040 detects whether an operation signal for raising the tillage implement 2002 has been input from the second operating tool 2052a. If an operation signal from the second operating tool 2052a is detected (Step 2d: Yes), the control device 2040 transitions to Step 3.

[0411] Furthermore, the agricultural machine 2100 is equipped with a third operating tool 2053 that is different from the first operating tool 2051 and that accepts operation. In the third embodiment, the agricultural machine 2100 can execute a series of operations (operation sequence). The operation sequence includes a turning operation in which the agricultural machine 2100 turns. The control device 2040 controls a turning operation in which the lifting device 2008 raises the tiller implement 2002 and the traveling device 2004 turns the vehicle body 2003 in response to operation of the third operating tool 2053. The turning operation includes raising and lowering the lifting device 2008, changing the speed of the traveling device 2004, and the like. Specifically, when the third operating tool 2053 is operated, the control device 2040 first raises the lifting device 2008 and transitions from the working state C1 to the non-working state C2. Next, the control device 2040 controls the traveling device 2004 and the steering device 2011 to turn the vehicle body 2003, and then lowers the lifting device 2008, transitioning from the non-working state C2 to the working state C1. At this time, the lifting device 2008 raises the tilling implement 2002 to the upper limit height (first set position) set by the setting member 2050a. The operation sequence is registered in advance by the manufacturer, the operator, etc., and stored in the storage device 2040b. When the third operating tool 2053 is operated, the control device 2040 controls each part of the agricultural machine 2100 based on the operation sequence stored in the storage device 2040b.

[0412] Therefore, when the operation sequence to be executed by operating the third operating tool 2053 is a turning operation, the control device 2040 can determine, based on the operation of the third operating tool 2053, whether the agricultural machine 2100 will transition from the working state C1 to the non-working state C2.

[0413] As shown in FIG. 48 , the control device 2040 determines whether the third operating device 2053 has been operated (Step 2e). More specifically, the control device 2040 detects whether an operation signal has been input from the third operating device 2053. When the control device 2040 detects an operation signal from the third operating device 2053 (Step 2e: Yes), the control device 2040 determines whether the tilling implement 2002 is raised (Step 2f). For example, the control device 2040 detects the actuation of the control valve 2019 of the lifting device 2008 and determines whether the tilling implement 2002 connected to the lifting device 2008 is raised by the extension and contraction of the lift cylinder 2008e. When the control device 2040 determines that the tilling implement 2002 is raised (Step 2f: Yes), the control device 2040 transitions to step 3.

[0414] The setting member 2050a sets the upper limit of the height that the tillage implement 2002 can be raised, the lift switch 2052 raises or lowers the tillage implement 2002 to a predetermined set height, and the third operating device 2053 controls the execution of a pre-stored operation sequence. For example, if the tractor 2001 is provided with a display unit that displays information about the tractor 2001 and the display unit is the control device 2050 such as a touch panel, the setting member 2050a, the lift switch 2052 (second operating device 2052a), and the third operating device 2053 may be areas (switches) displayed on the display unit.

[0415] <Fourth Variant> In the third variant, the control device 2040 determined whether or not to perform the lowering process based on the state of the agricultural machine 2100, which is the type of operating tool used to raise the tillage implement 2002. However, the control device 2040 may determine whether or not to perform the lowering process based on the tillage depth X of the tillage implement 2002 (tiller tines 2002A) instead of or in addition to the state of the agricultural machine 2100 described above.

[0416] As shown in Fig. 37, the agricultural machine 2100 is equipped with a tillage depth calculation unit 2042 that calculates the tillage depth X (see Fig. 36) of the tillage implement 2002. The tillage depth calculation unit 2042 is stored in the storage device 2040b of the control device 2040 and is a program executed by the control device 2040. The tillage depth calculation unit 2042 (storage device 2040b) has dimensional information of the tractor 2001 and the tillage implement 2002 stored in advance. The tillage depth calculation unit 2042 also stores an arithmetic expression (tilling depth calculation program) that calculates the tillage depth X using the dimensional information of the tractor 2001 and the tillage implement 2002 and the height from the ground surface G of the tillage implement 2002 as input parameters. The tillage depth calculation unit 2042 also stores an arithmetic expression (height conversion program) for converting height information h detected by the height detection device 2072 into the height from the ground G to the tillage implement 2002. When a calculation instruction signal is input from the control device 2040, the tillage depth calculation unit 2042 executes the height conversion program and the tillage depth calculation program to calculate the tillage depth X of the tillage implement 2002. Note that the calculation of the tillage depth X is not limited to the method described above, and other methods may also be used.

[0417] The control device 2040 can also provide assistance with tilling work based on the tilling depth X calculated by the tilling depth calculation unit 2042. For example, the control device 2040 notifies the operator of the difference between the calculated tilling depth X and a reference tilling depth Xsd. The reference tilling depth Xsd is registered in advance by the operator or the like and stored in the storage device 2040b. When the control device 2040 acquires the tilling depth X from the tilling depth calculation unit 2042, it calculates the deviation ΔX between the tilling depth X and the reference tilling depth Xsd stored in the storage device 2040b. The control device 2040, for example, displays the tilling depth X, the reference tilling depth Xsd, and the deviation ΔX on a display unit provided on the tractor 2001. By looking at the display unit, the operator can understand the difference between the tilling depth X for the currently being performed tilling work and the reference tilling depth Xsd. This allows the operator to determine whether the tilling work is being performed appropriately. Furthermore, when the worker sees by looking at the display that the deviation ΔX between the tilling depth X and the reference tilling depth Xsd is large, he or she can operate the control device 2050 to adjust the position (height) of the tilling device 2002 so that the deviation ΔX becomes smaller (so that the tilling depth X matches the reference tilling depth Xsd).

[0418] The control device 2040 determines whether or not to perform a reduction process based on the tillage depth X calculated by the tillage depth calculation unit 2042. As described above, when the vehicle body 2003 turns, the agricultural machine 2100 raises the tillage implement 2002 and transitions to the non-working state C2 in order to turn smoothly and prevent damage to the tillage implement 2002. Furthermore, when the agricultural machine 2100 finishes tilling work, it transitions from the working state C1 to the non-working state C2 so that the tillage implement 2002 (the tillage tines 2002A) are separated from the ground surface G. Therefore, when the tillage depth X calculated by the tillage depth calculation unit is smaller than a predetermined value, it is expected that the agricultural machine 2100 will raise the tillage implement 2002 (the tillage tines 2002A) above the ground surface G and perform a turning operation of the vehicle body 2003, or will stop tilling work.

[0419] On the other hand, it is also conceivable that the operator can grasp the deviation ΔX between the tilling depth X and the reference tilling depth Xsd by looking at the display unit, and while continuing the working state C1, operate the first operating tool 2051 to adjust the position (height) of the tilling implement 2002 to a desired position. For example, if the tilling depth X is shallower (smaller) than the reference tilling depth Xsd, the operator can operate the first operating tool 2051 to lower the position (height) of the tilling implement 2002 so as to reduce the deviation ΔX. When the tilling depth X is less than the reference tilling depth Xsd, the control device 2040 can determine that the working state C1 should be transitioned to the non-working state C2 if the first operating tool 2051 is operated to raise the tilling implement 2002 and further reduce the tilling depth X. For this reason, the control device 2040 determines whether to perform a reduction process when the first operating tool 2051 is operated to raise the tillage implement 2002 and the tillage depth X is less than a predetermined value (for example, a reference tillage depth Xsd or a predetermined tillage depth Xth (Xsd>Xth) that is smaller than the reference tillage depth Xsd). For example, the memory device 2040b stores in advance a predetermined tillage depth Xth (Xsd>Xth) that is smaller than the reference tillage depth Xsd, and the control device 2040 can determine whether the tillage depth X is equal to or smaller than the predetermined tillage depth Xth.

[0420] As shown in FIG. 49 , the control device 2040 determines whether the first operating tool 2051 has been operated (Step 2g). Specifically, the control device 2040 detects whether an operation signal has been input from the first operating tool 2051. When the control device 2040 detects the operation signal from the first operating tool 2051 (Step 2g: Yes), it determines whether the tillage implement 2002 is raised (Step 2f). When the control device 2040 determines that the tillage implement 2002 is raised (Step 2f: Yes), it acquires the tillage depth X from the tillage depth calculation unit 2042 (Step 1d) and determines whether the tillage depth X is equal to or less than a predetermined value (Step 2h). When the tillage depth X is equal to or less than the predetermined value (Step 2h: Yes), the control device 2040 determines that a reduction process should be performed and proceeds to Step 3.

[0421] The control device 2040 may also perform automatic lifting control to automatically adjust the position of the tillage device 2002 so that the tillage depth X matches the reference tillage depth Xsd. Specifically, when the operator performs a predetermined operation, the control device 2040 starts the automatic lifting control. In the automatic lifting control, if the tillage depth X calculated by the tillage depth calculation unit 2042 is smaller (shallower) than the reference tillage depth Xsd, the control device 2040 inputs a control signal to the control valve 2019 to lower the tillage device 2002 (lifting device 2008), thereby moving the tillage tines 2002A downward and controlling the tillage depth X to match the reference tillage depth Xsd. Furthermore, if the tillage depth X is greater (deeper) than the reference tillage depth Xsd, the control device 2040 inputs a control signal to the control valve 2019 to raise the tillage device 2002 (lifting device 2008), thereby moving the tillage tines 2002A upward and controlling the tillage depth X to match the reference tillage depth Xsd. This allows the agricultural machine 2100 to maintain a constant tillage depth X, allowing for appropriate tillage work.

[0422] When the control device 2040 is performing automatic lift-down control, it can be said that the working state C1 is continuing. On the other hand, when the control device 2040 is performing automatic lift-down control, if the tilling implement 2002 is raised by an operation signal from the first operating tool 2051 and the tilling depth X decreases, it can be determined that the agricultural machine 2100 will transition to the non-working state C2. Therefore, when the control device 2040 is performing automatic lift-down control, the control device 2040 determines whether or not to continue the automatic lift-down control based on the operation of the first operating tool 2051. If the control device 2040 determines not to continue the automatic lift-down control, it determines whether or not to perform a reduction process based on the tilling depth X.

[0423] As shown in FIG. 50 , upon receiving a predetermined operation, the control device 2040 initiates automatic lift control (Step 4). The control device 2040 determines whether the first operating device 2051 has been operated (Step 2g). When the control device 2040 detects an operation signal from the first operating device 2051 (Step 2g: Yes), it terminates the automatic lift control (Step 5) and determines whether the tillage implement 2002 is raised (Step 2f). When the control device 2040 determines that the tillage implement 2002 is raised (Step 2f: Yes), it acquires the tillage depth X from the tillage depth calculation unit 2042 (Step 1d) and determines whether the tillage depth X is equal to or less than a predetermined value (Step 2h). When the tillage depth X is equal to or less than the predetermined value (Step 2h: Yes), the control device 2040 determines that a lowering process should be performed and proceeds to Step 3.

[0424] <Other Modifications> In the above-described embodiment, the control device 2040 provided in the tractor 2001 determines whether or not to perform the lowering process and whether or not to perform the lowering process, but this may also be linked to the work control device 2002a provided in the tillage implement 2002. For example, the height detection device 2072 may be provided in the tillage implement 2002, and the work control device 2002a may operate as the tillage depth calculation unit 2042, and output the detected tillage depth X to the control device 2040 via the network N.

[0425] Furthermore, in the above-described embodiment, the electric motor M1, which is the drive source of the tillage implement 2002, and the power storage device 2030, which supplies power to the electric motor M1, are provided in the tractor 2001 (body 2003), but they may also be provided in the tillage implement 2002. In this case, a function equivalent to the degradation processing unit 2041 is stored as a software program in the work control device 2002a, and the electric motor M1 is controlled by executing the software program.

[0426] Furthermore, in the above-described embodiment, the agricultural machine 2100 has been described as having power transmitted from different drive sources (electric motors M1, M2) to the tiller 2002 and the traveling device 2004, respectively. However, the drive source of the tiller 2002 may also serve as the power source for the traveling device 2004, etc. In such a case, power output from the drive source (electric motor M1, internal combustion engine, etc.) is transmitted to the transmission 2005, and the traveling device 2004 and the tiller 2002 are driven by the power whose speed has been changed by the transmission 2005. In other words, the power output from the drive source is output to the PTO shaft 2016, which outputs the power to the outside, via the transmission 2005. In this modified example, the transmission 2005 has a PTO power transmission unit that transmits the power output from the drive source to the PTO shaft 2016 and changes the speed of the power.

[0427] The PTO power transmission unit includes a PTO propeller shaft, a PTO clutch, and a PTO speed change unit. The PTO propeller shaft is rotatably supported and can transmit power from a drive source. The PTO clutch is, for example, a hydraulic clutch, and by engaging or disengaging the hydraulic clutch, the state switches between transmitting power from the propeller shaft to the PTO propeller shaft and not transmitting power from the propeller shaft to the PTO propeller shaft. The PTO speed change unit includes a speed change clutch and multiple gears, and changes and outputs power (rotation speed) input from the PTO propeller shaft to the PTO speed change unit. The power of the PTO speed change unit is connected to the PTO shaft via gears, etc. The PTO speed change unit changes and outputs power (rotation speed) to the PTO shaft 2016 based on a control signal output from the control device 2040. The reduction processing unit 2041 outputs a control signal to the PTO speed change unit to change the speed to change the rotation speed of the PTO shaft 2016, and change (reduce) the rotation speed V of the tillage tines 2002A.

[0428] A preferred embodiment of the third invention of the present application provides an agricultural machine 2100 described in the following items.

[0429] (Item 5-1) An agricultural machine 2100 comprising a vehicle body 2003, a traveling device 2004 that supports the vehicle body 2003 so that it can run, a tilling device 2002 having rotationally driven tilling tines 2002A, a lifting device 2008 that connects the tilling device 2002 to the vehicle body 2003 so that it can be raised and lowered, and a control device 2040 that performs a reduction process to gradually reduce the output of power that rotates the tilling tines 2002A as the tilling device 2002 transitions from a working state C1 in which it is performing work to a non-working state C2 in which it is not performing work by the lifting device 2008 raising the tilling device 2002.

[0430] According to the invention related to this item 5-1, the ground surface G can be maintained in an appropriate state when transitioning from working state C1 to non-working state C2 in which the tillage implement 2002 is not working. Specifically, by performing a reduction process that gradually reduces the drive of the tillage tines 2002A during the transition from working state C1, in which the tillage tines 2002A are digging into the ground and tilling, to non-working state C2, in which the tillage tines 2002A are positioned above the ground surface, the amount of soil that the tillage tines 2002A dig into the ground during the transition from working state C1 to non-working state C2 can be gradually reduced, and the formation of tillage marks on the ground surface G after work can be suppressed.

[0431] (Item 5-2) An agricultural machine 2100 as described in Item 5-1, which is provided with a drive source that generates power to rotate the tiller tines 2002A, and the control device 2040 controls the output and / or rotational speed of the power transmitted from the drive source to the tiller tines 2002A as the reduction process, thereby gradually reducing the rotational speed V of the tiller tines 2002A.

[0432] According to the invention relating to item 5-2, during the transition from working state C1 in which the tiller tines 2002A are digging into the ground and tilling to non-working state C2 in which the tiller tines 2002A are positioned above the ground, a reduction process is performed to gradually reduce the rotational speed V of the tiller tines 2002A. This reduces the number of times the tiller tines 2002A come into contact with the ground during the transition from working state C1 to non-working state C2, thereby maintaining the ground G in an appropriate state.

[0433] (Item 5-3) An agricultural machine 2100 according to Item 5-2, which is equipped with a height detection device 2072 that detects height information h of the lifting device 2008 and / or the tilling device 2002 from the field, and the control device 2040 performs the lowering process based on the height information h detected by the height detection device 2072.

[0434] According to the invention relating to this item 5-3, the control device 2040 can determine that the lifting device 2008 and / or the tilling device 2002 will transition to the non-working state C2 based on their height, and can perform a lowering process.

[0435] (Item 5-4) The agricultural machine 2100 described in Item 5-3, in which the traveling device 2004 changes the degree of straightness of the vehicle body 2003 by changing the steering angle, and the control device 2040 determines whether or not to perform the reduction processing based on the steering angle.

[0436] According to the invention related to this item 5-4, the control device 2040 can estimate (determine) a transition to the non-working state C2 by using the steering angle as a substitute, without detecting an operation instruction to transition to the non-working state C2, etc. Therefore, the control device 2040 can appropriately determine, based on the steering angle, whether the traveling device 2004 will continue the working state C1 by moving straight, or whether the vehicle body 2003 will turn and transition to the non-working state C2, and can perform a reduction process.

[0437] (Item 5-5) The agricultural machine 2100 according to item 5-4, wherein the control device 2040 performs the reduction process when the steering angle is equal to or greater than a predetermined value.

[0438] According to the invention related to this item 5-5, the control device 2040 can estimate (determine) that the traveling device 2004 will turn and transition to the non-working state C2 when the steering angle is equal to or greater than a predetermined value, even without detecting an operation instruction to transition to the non-working state C2, and can appropriately perform the reduction process. Also, it is possible to maintain the rotational drive output of the tillage tines 2002A and perform tillage when the vehicle body 2003 travels straight, and to perform the reduction process when the traveling device 2004 turns and transitions to the non-working state C2, thereby preventing tillage marks from being left on the ground G.

[0439] (Item 5-6) An agricultural machine 2100 according to any one of items 5-3 to A5, which is provided with a memory device 2040b that stores a field map MP showing the field, and the control device 2040 determines whether or not to perform the reduction processing based on the position of the vehicle body 2003 on the field map MP.

[0440] According to the invention relating to item 5-6, the control device 2040 can estimate (determine) the transition to the non-working state C2 by using the position of the vehicle body 2003 on the field map MP as a substitute, without detecting an operation instruction to transition to the non-working state C2, and can perform the reduction processing appropriately.

[0441] (Item 5-7) The agricultural machine 2100 described in item 5-6, wherein the field map MP includes a turning area E1 in which the vehicle body 2003 turns, and the control device 2040 performs the reduction processing when the vehicle body 2003 approaches the vicinity of the turning area E1 and / or is located in the turning area E1.

[0442] According to the invention related to items 5-7, the control device 2040 can estimate (determine) that the vehicle body 2003 will turn and transition to the non-working state C2 by using the position of the vehicle body 2003 on the field map MP as a substitute, without detecting an operation instruction to transition to the non-working state C2. This makes it possible to cultivate while maintaining the rotational drive output of the tillage tines 2002A in the working state C1, and to reduce the amount of tillage marks on the ground G when transitioning to the non-working state C2.

[0443] (Item 5-8) An agricultural machine 2100 described in any of items 5-3 to A7, which is equipped with a memory device 2040b that stores a planned driving line L, which is defined in a field and is the route along which the vehicle body 2003 will travel, and the control device 2040 determines whether or not to perform the lowering processing based on the position of the vehicle body 2003 on the planned driving line L.

[0444] According to the invention relating to item 5-8, the control device 2040 can estimate (determine) the transition to the non-working state C2 by using the position of the vehicle body 2003 on the planned driving line L as a substitute, without detecting an operation instruction to transition to the non-working state C2, and can perform appropriate reduction processing.

[0445] (Item 5-9) The planned driving line L includes a straight section L1 along which the vehicle body 2003 drives straight and a turning section L2 along which the vehicle body 2003 turns, and the control device 2040 performs the lowering processing when the vehicle body 2003 is located at the turning section L2. This is an agricultural machine 2100 described in item 5-8.

[0446] According to the invention relating to items 5-9, the control device 2040 can estimate (determine) that the vehicle body 2003 will transition to the non-working state C2 as it is positioned in the turning section L2 and turns, even without detecting an operation instruction to transition to the non-working state C2, and can appropriately perform the reduction processing.

[0447] (Item 5-10) An agricultural machine 2100 described in any of items 5-3 to A9, comprising a first operating tool 2051 that operates the lifting device 2008 to raise the tilling device 2002 to any height, and a second operating tool 2052a that is different from the first operating tool 2051 and operates the lifting device 2008 to raise the tilling device 2002 to a predetermined height, wherein the control device 2040 performs the lowering processing when the second operating tool 2052a is operated to raise the tilling device 2002.

[0448] According to the invention related to items 5-10, the first operating tool 2051 is used to arbitrarily adjust the height of the tilling tool 2002. Therefore, the operation of the first operating tool 2051 is assumed to be either an operation to adjust the height of the tilling tool 2002 while maintaining the working state C1, or an operation to transition from the working state C1 to the non-working state C2. Meanwhile, the second operating tool 2052a can be estimated (determined) to be an operation to raise the tilling tool 2002 to a predetermined height in order to transition from the working state C1 to the non-working state C2. Therefore, even without an operation indicating a transition to the non-working state C2, the control device 2040 can estimate that the second operating tool 2052a has been operated to transition to the non-working state C2, and by appropriately performing a lowering process, the ground G can be maintained in an appropriate state.

[0449] (Item 5-11) An agricultural machine 2100 described in any of items 5-3 to A10, comprising a first operating device 2051 that operates the lifting device 2008 to raise the tilling device 2002 to a desired height, and a third operating device 2053 that is different from the first operating device 2051 and accepts operation, wherein the control device 2040 controls a turning operation that uses the lifting device 2008 to raise the tilling device 2002 and the traveling device 2004 to turn the vehicle body 2003 in accordance with operation of the third operating device 2053, and performs the lowering processing when the turning operation is performed.

[0450] According to the invention related to this item 5-11, the first operating tool 2051 is used to arbitrarily adjust the height of the tillage implement 2002. Therefore, it is conceivable that the first operating tool 2051 will be operated to adjust the height of the tillage implement 2002 while maintaining the working state C1. Meanwhile, the third operating tool 2053 can operate a combination of raising the tillage implement 2002 and turning the vehicle body 2003. Therefore, even if there is no operation indicating a transition to the non-working state C2, the control device 2040 can estimate (determine) that the third operating tool 2053 will cause a transition from the working state C1 to the non-working state C2, and can appropriately perform the lowering process.

[0451] (Item 5-12) An agricultural machine 2100 described in any of items 5-3 to A11, which is provided with a tillage depth calculation unit 2042 that calculates the tillage depth X of the tillage device 2002, and the control device 2040 determines whether or not to perform the reduction processing based on the tillage depth X calculated by the tillage depth calculation unit 2042.

[0452] According to the invention relating to item 5-12, the control device 2040 can use the tilling depth X as a substitute to estimate (judge) whether to continue the working state C1 or to transition to the non-working state C2, even without any operation to indicate that the state has transitioned to the non-working state C2, and can appropriately perform the reduction process.

[0453] (Item 5-13) An agricultural machine 2100 as described in Item 5-12, which is provided with a first operating tool 2051 that operates the lifting device 2008 and raises the tilling device 2002 to any desired height, and the control device 2040 determines whether or not to perform the lowering process when the first operating tool 2051 is operated to raise the tilling device 2002 and the tilling depth X is less than a predetermined value.

[0454] According to the invention relating to item 5-13, even if there is no operation to indicate that the non-working state C2 has been entered, the control device 2040 can use the operation by the first operating device 2051 and the tilling depth X as a substitute to estimate (determine) whether to continue the working state C1 or to enter the non-working state C2, and can appropriately perform the reduction process.

[0455] (Item 5-14) The agricultural machine 2100 described in any one of items 5-2 to 13, wherein the drive source is an electric motor M1 driven by electricity, and the control device 2040 controls the output and / or rotation speed of the electric motor M1 in the reduction process, and gradually reduces the rotation speed V of the tiller tines 2002A as the state transitions from the working state C1 to the non-working state C2.

[0456] According to the invention relating to item 5-14, when transitioning from working state C1 to non-working state C2, the rotation speed V of the tillage tines 2002A is gradually reduced by controlling the electric motor M1, thereby suppressing the occurrence of tillage marks on the ground G and maintaining the ground in an appropriate state.

[0457] (Item 5-15) The agricultural machine 2100 described in Item 5-14, wherein the control device 2040 controls the electric motor M1 in the reduction process to continuously reduce the rotational speed V of the tiller tines 2002A as the state transitions from the working state C1 to the non-working state C2.

[0458] According to the invention relating to items 5-15, when transitioning from working state C1 to non-working state C2, the tillage device 2002 is pulled, thereby reducing the load that the tillage tines 2002A receive from the ground, while also reducing the amount of soil that the tillage tines 2002A dig into the ground, thereby suppressing the occurrence of tillage marks on the ground G.

[0459] As described above, the first to third inventions of the present application have been described, but the embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of each of the first to third inventions of the present application is indicated by the claims rather than the above description, and it is intended to include all modifications within the meaning and scope of the claims.

[0460] DESCRIPTION OF SYMBOLS 1: Vehicle body 2: Coupling mechanism 6: Rotating working body 7a: Prime mover 7b: Drive transmission mechanism 8: Frame structure 20L: Lower link 20R: Lower link 20a: First end 20b: Second end 21R: Actuator (cylinder device: electric hydraulic cylinder) 21L: Actuator (cylinder device: electric hydraulic cylinder) 22: Upper link 22a: Base end 22b: Tip end 23R: Hooking member 23L: Hooking member 24: Connecting frame 25: Hooking portion 26: Electric motor 27: Hydraulic cylinder (fluid cylinder) 70a: Output shaft 71a: Output sprocket 71b: Input sprocket 71c: Chain 75: Skid 76: Rotating disc body 80: Connecting portion 81: Support frame 81a : Support frame (first support frame) 81b : Support frame (second support frame) 82 : Support portion 82a : Support portion 82b : Support portion 83 : Support portion 83a : Support portion 83b : Support portion 240 : Spherical bearing 280 : Hydraulic pump 601 : Shaft portion A : Work vehicle B : Work device (first work device, second work device) H1 : Connection position (pin insertion hole: through hole) H2 : Connection position S3 : Angle sensor CL : Center line

Claims

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

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

3. The working device according to claim 2, further comprising a drive transmission mechanism for transmitting the output of the prime mover to the rotary working body, the prime mover having an output shaft, and the drive transmission mechanism transmitting the rotation of the output shaft to the one end of the rotary working body.

4. The rotary working body has a shaft portion centered on the axis at the one end, the prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion, and the drive transmission mechanism includes an output gear attached to the output shaft and an input gear attached to the shaft portion and meshing directly or indirectly with the output gear. The working device according to claim 3, which has a gear group.

5. The rotary working body has a shaft portion centered on the axis at the one end, the prime mover is arranged with the output shaft parallel or substantially parallel to the shaft portion, and the drive transmission mechanism includes an output sprocket attached to the output shaft, an input sprocket attached to the shaft portion, and a chain wound around the output sprocket and the input sprocket. The working device according to claim 3.

6. The frame structure includes a support frame extending in the width direction and a pair of support portions extending downward from both ends of the support frame. The rotary working body is arranged below the support frame, both ends of the rotary working body are supported by the pair of support portions, and the prime mover is attached to the support frame or the one support portion. The working device according to claim 3.

7. The working device according to claim 6, wherein the one support portion that supports the end portion among the pair of support portions is a cover that covers the drive transmission mechanism.

8. The working device according to claim 3, further comprising a cover covering the drive transmission mechanism, wherein the prime mover is disposed in contact with or close to the cover.

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

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

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

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

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