Work vehicle

Abstract

Provided is a work vehicle (1) that can easily change a position of a work device (U1) with respect to a vehicle body (2) and is excellent in workability.　This work vehicle comprises: the vehicle body (2) that can travel; a connection device (6) to which the work device (U1) is connected; and a movement mechanism (80) that is attached to the vehicle body (2) and movably connects and supports the connection device (6) in the width direction of the vehicle body (2).

Description

Work vehicles

[0001] The present invention relates to a work vehicle to which a work implement can be coupled.

[0002] Conventionally, work vehicles such as tractors include a prime mover, a coupling device (two-point linkage or three-point linkage) that couples a work implement such as a tiller to the coupling device, and a PTO mechanism that transmits the power of the prime mover to the work implement coupled to the coupling device. The work implement is coupled to the work vehicle via the coupling device and is operated by the power of the prime mover transmitted from the PTO mechanism to perform a predetermined task (such as tilling or cleaning). This type of coupling device includes a link body having a base end rotatably coupled to the work vehicle about an axis extending laterally relative to the body of the work vehicle and a tip end opposite the base end, and the work implement is coupled to the tip end of the link body. As a result, this type of coupling device swings (rotates) the link body about the base end (axis) to raise and lower the work implement coupled to the tip end of the link body.

[0003] Japanese Patent Publication No. 2023-159517 and Japanese Patent Publication No. 2009-232766

[0004] However, in the case of a work vehicle in which a work implement is connected to the work vehicle via a coupling device, such as the work vehicle in Patent Document 1, if the working position of the work implement deviates from the target position, it is necessary to adjust the traveling direction of the work vehicle to correct the position of the work implement.

[0005] Furthermore, with the coupling device (link device) of Patent Document 2, when the working implement is raised or lowered, the working implement moves along an arc-shaped path as the link body rotates. Therefore, for example, if the working implement is a rotary tillage implement used for tilling soil, when the working implement is raised while the rotary is rotating, the working implement may be thrown diagonally backward, causing the tilled soil to be thrown backward. In other words, while some working implements are preferably raised or lowered in a straight line, the coupling device of Patent Document 2 does not allow the working implement to be raised or lowered in a straight line.

[0006] The present invention has been made in consideration of the above problems, and has an object to provide a work vehicle that allows the position of a working implement to be easily changed and has excellent workability. Another object of the present invention is to provide a work vehicle that allows the working implement to be raised and lowered in a straight line at least in the vertical direction.

[0007] The present invention employs the following technical means to achieve the above object.

[0008] A work vehicle according to one aspect of the present invention comprises a drivable vehicle body, a coupling device to which a work implement is coupled, and a movement mechanism attached to the vehicle body that connects and supports the coupling device so that it can move in the width direction of the vehicle body.

[0009] The moving mechanism may have a rail extending in the width direction, a slider connected to the rail so as to be movable in the width direction, and a slider drive device that moves the slider along the rail, and the connecting device may be provided on the slider.

[0010] The rail may extend in the width direction perpendicular to a vehicle body center line that passes through a center in the width direction and extends in a traveling direction of the vehicle body.

[0011] The vehicle is provided with a running device that supports the vehicle body so that it can run, and the running device includes a front running device that is arranged at the front of the vehicle body in the running direction, and a rear running device that is arranged at the rear of the vehicle body in the running direction, and the rail may be arranged rearward of the rear running device.

[0012] The coupling device may include a prime mover that drives the working device.

[0013] The prime mover may be an electric motor that is driven by receiving electric power from the vehicle body.

[0014] The connecting device may have a link mechanism pivotally supported on the rear portion of the slider, and a hitch frame connected to the link mechanism and for connecting the working device, and the prime mover may be provided on the hitch frame.

[0015] The prime mover may be disposed on a rear extension line of the widthwise center of the slider.

[0016] A work vehicle according to another aspect of the present invention comprises a drivable vehicle body and a coupling device attached to the vehicle body, the coupling device having a first device section supported directly or indirectly on the vehicle body, and a second device section including a coupling section to which a work device for performing a specified task can be coupled, and the first device section supports the second device section so that it can move linearly at least in the vertical direction among linear directions perpendicular to the vertical direction and the lateral direction perpendicular to the fore-aft direction.

[0017] The first device section may include a guide device capable of guiding the second device section in the up-down direction.

[0018] The guiding device includes a guiding body extending in the linear direction and a guided body that is guided by the guiding body and to which the second device part is directly or indirectly connected, and the connecting device may maintain the guiding body in a position extending in the vertical direction at least when the connecting part is raised and lowered in the vertical direction.

[0019] The coupling device may include a first actuator that linearly moves the second device portion.

[0020] The first device portion may be rotatable about an axis extending in the laterally direction.

[0021] The coupling device may include a second actuator for rotating the first device part about the axis.

[0022] The second actuator may be an extendable cylinder device and may be arranged across the first device section and the vehicle body.

[0023] The connecting device may be an arm having a base end connected to the vehicle body and a tip end opposite the base end, the arm extending outward from the vehicle body in a direction perpendicular to the up-down direction, and the first device part may be connected to the tip end of the arm via the axis.

[0024] A lower end of the first device unit may be connected to the tip end of the arm via the shaft.

[0025] The second device unit may include an electric motor that drives the working device connected to the connecting unit and is driven by receiving electric power supplied from the vehicle body.

[0026] The electric motor may be oscillating about a support shaft extending in the lateral direction as a center of rotation.

[0027] The first device part may have a connection part to which the second device part is connected, the connection part including a vertical axis extending in the front-to-rear direction, and the second device part may be connected to the connection part via the vertical axis and be rotatable around the vertical axis.

[0028] The coupling device may include a third actuator for rotating the second device part about the longitudinal axis.

[0029] The third actuator may be an extendable cylinder device and may be disposed across the first device section and the second device section.

[0030] The coupling device may be attached to at least one of the front end and the rear end of the vehicle body.

[0031] According to the present invention, it is possible to provide a work vehicle with excellent workability in which the position of the work implement can be changed by moving the coupling device in the width direction of the vehicle body.

[0032] Furthermore, according to the present invention, the working device can be raised and lowered straight at least in the vertical direction.

[0033] 1 is a left side view of the work vehicle of the first embodiment. FIG. 2 is an upper view of the work vehicle of the first embodiment. FIG. 3 is a rear perspective view of the link mechanism and the movement mechanism. FIG. 4 is a rear perspective view of the link mechanism. FIG. 5 is a rear perspective view of the hitch frame. FIG. 6 is a rear view of the hitch frame. FIG. 7 is a partial cross-sectional view as seen from above showing the periphery of the mounting portion of the auxiliary prime mover. FIG. 8 is a partial cross-sectional view as seen from the side showing the periphery of the mounting portion of the auxiliary prime mover. FIG. 9 is a left side view of the work vehicle of the second embodiment, showing the left side view when the coupling device is in a first state. FIG. 10 is a left side view of the work vehicle of the second embodiment, showing the left side view when the coupling device is in a second state. FIG. 11 is a left side view of the coupling device of the second embodiment, showing the left side view of the coupling device in the first state. FIG. 12 is a rear view of the coupling device of the second embodiment, seen from the rear side, showing the second device unit rotated to one side (right) about the vertical axis when the coupling device is in the first state. 9 is a rear view of a coupling device according to a second embodiment, as seen from the rear side, in a state in which the coupling device is in a first state and the second device unit is rotated to the other (left) side about the vertical axis. FIG. 10 is a schematic partial perspective view of a guide device included in the coupling device according to the second embodiment, as seen from diagonally below. FIG. 11 is a schematic diagram of a guide device included in the coupling device according to the second embodiment, in a partial side view of the guide device, with a portion shown in virtual lines. FIG. 12 is a cross-sectional view taken along line IX-IX of FIG. 9. FIG. 13 is a left side view of a first device unit of the coupling device according to the second embodiment, in a first state. FIG. 14 is a rear view of the first device unit of the coupling device according to the second embodiment, as seen from the rear side, in a rear view of the coupling device (first device unit) in the first state, with the second device and some components not shown. FIG. 15 is a left side view of a second device unit of the coupling device according to the second embodiment, in a first state. FIG. 16 is a rear view of the second device unit of the coupling device according to the second embodiment, as seen from the rear side, in a rear view of the coupling device (second device unit) in the first state, with the first device and some components not shown. 10 is an explanatory view of a coupling portion (lower coupling portion) of a coupling device according to a second embodiment. FIG. 11 is an explanatory view of a coupling portion (upper coupling portion) of a coupling device according to a second embodiment. FIG. 12 is an enlarged view of a main part around an electric motor for a device of a coupling device according to a second embodiment.Fig. 29 is a schematic block diagram of an electrical system of a work vehicle according to a second embodiment. Fig. 30 is a schematic partial perspective view of a guide device included in a coupling device of a modified example, as viewed obliquely from below. Fig. 31 is a rear view of a coupling device of a modified example, as viewed from the rear side, and is a rear view of the coupling device in a first state. Fig. 32 is a left side view of a coupling device of a modified example, and is a left side view of the coupling device in the first state. Fig. 33 is a rear view of the coupling device shown in Fig. 28. Fig. 34 is a left side view of a work vehicle according to a modified example. Fig. 35 is a schematic left side view for explaining an example of a work device coupled to a work vehicle according to a second embodiment.

[0034] An embodiment of the present invention will be described with reference to the drawings.

[0035] <First Embodiment> A work vehicle 1 of the first embodiment is a traveling vehicle that can travel. As shown in Figures 1 and 2, the work vehicle 1 of the first embodiment is a tractor, and includes a body 2, a traveling device 3, a driver's seat 4, a prime mover 5 for traveling, a coupling device 6, a battery 8, and a movement mechanism 80. It should be noted that the work vehicle 1 according to the present invention is not limited to a tractor. For example, the work vehicle 1 according to the present invention may be an agricultural machine, a construction machine, a transport machine, a utility vehicle, or the like other than a tractor.

[0036] In the following description of the first embodiment, the length direction of the vehicle body 2 (the direction indicated by arrows X1 and X2 in Figures 1 and 2), which is the straight-ahead traveling direction of the work vehicle 1, is referred to as the front-to-rear direction, the width direction of the vehicle body 2 (the direction indicated by arrows Y1 and Y2 in Figure 2) is referred to as the left-to-right direction, and the height direction of the vehicle body 2 (the direction indicated by arrows Z1 and Z2 in Figure 1) is referred to as the up-to-down direction.

[0037] The vehicle body 2 is formed by combining metal frame materials and the like, and is supported by traveling devices 3. The vehicle body 2 includes a bonnet 2A and a cabin 2B. The bonnet 2A is provided at the upper front part of the vehicle body 2, and covers the area in front of the driver's seat 4 at the top of the vehicle body 2. In other words, the driver's seat 4 is provided behind the bonnet 2A at the top of the vehicle body 2. The cabin 2B covers the area around the driver's seat 4 at the top of the vehicle body 2. The cabin 2B is a protection mechanism that protects the driver's seat 4. The work vehicle 1 may be provided with a canopy instead of the cabin 2B as the above-mentioned protection mechanism.

[0038] 1, a clutch housing 9A and a transmission case 9B are provided at the rear of the vehicle body 2. The clutch housing 9A houses a clutch and is connected to the prime mover 5. The transmission case 9B houses a transmission, a rear wheel differential, etc. and is connected to the clutch housing 9A.

[0039] The traveling devices 3 support the vehicle body 2 so that it can travel. The traveling devices 3 in the first embodiment are wheels rotatably provided on the vehicle body 2. As shown in Figures 1 and 2, the traveling devices 3 include front wheels 3F as front traveling devices provided on the left and right sides at the front of the vehicle body 2, and rear wheels 3R ​​as rear traveling devices provided on the left and right sides at the rear of the vehicle body 2. Note that, of the traveling devices 3, either or both of the front wheels 3F and rear wheels 3R ​​may be crawlers.

[0040] The prime mover 5 is provided in the upper front portion of the vehicle body 2 and is housed inside the hood 2A. The prime mover 5 in the first embodiment is a diesel engine. The prime mover 5 may be a gasoline engine or a hydrogen engine driven by the combustion energy of hydrogen gas. Alternatively, the prime mover 5 may be an electric motor driven by power generated by a fuel cell or power charged in a battery 8 from an external power source, or may be a hybrid prime mover configured by combining an engine and an electric motor.

[0041] An alternator is connected to the prime mover 5 in the first embodiment. The alternator is connected to the drive shaft of the prime mover 5 via a power transmission belt, and is driven to rotate by the power of the prime mover 5 to generate electricity. The electricity generated by the alternator is supplied to the battery 8 via an isolator.

[0042] The movement mechanism 80 supports the coupling device 6 at the rear of the vehicle body 2 so that it can move in the left-right direction. The coupling device 6 will be described in detail later. The movement mechanism 80 of the first embodiment is an actuator that moves the coupling device 6 in the left-right direction of the vehicle body 2. As shown in FIG. 3 , the movement mechanism 80 has a base portion 81, a rail 82, a slider 83, and a slider drive device 84. The slider drive device 84 has a power transmission shaft 85 and a drive motor 86.

[0043] 1 and 2, the base 81 is a frame that supports the rail 82 and is connected to and supported by the rear of the vehicle body 2. The base 81 extends from the rear of the vehicle body 2 to a position rearward of the rear wheel 3R. The rail 82 is a frame that guides the slider 83 in its extension direction and extends in the left-right direction at the rear end of the base 81. In other words, the rail 82 is disposed rearward of the rear wheel (rear traveling device) 4R.

[0044] 2, the rail 82 extends in the left-right direction perpendicular to a vehicle body center line CL1 that passes through the center in the left-right direction (width direction) and extends in the fore-aft direction (travel direction) of the vehicle body 2. The rail 82 is formed to have a length L1 that is shorter than the outer width W1 of the rear wheels 3R ​​provided on the left and right sides of the vehicle body 2.

[0045] The slider 83 is a base that supports the coupling device 6, and is connected to the rail 82 so as to be movable in the extension direction of the rail 82. In other words, the slider 83 supports the coupling device 6 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 3R.

[0046] 3, the slider drive device 84 is a device that moves the slider 83 along the rail 82. The power transmission shaft 85 is a ball screw shaft that transmits the power of the drive motor 86 to the slider 83, extends parallel to the rail 82, and is inserted through the slider 83. The power transmission shaft 85 is connected to the drive shaft of the drive motor 86.

[0047] The drive motor 86 is an electric motor that rotates the power transmission shaft 85 and is driven by power supplied from the vehicle body 2. Therefore, when the drive shaft of the drive motor 86 is rotated, the power transmission shaft 85 is also rotated accordingly. As a result, the slider 83 slides along the rail 82 within its extension range. This causes the position of the coupling device 6 to move left and right.

[0048] In this way, according to the work vehicle 1 of the first embodiment, the coupling device 6 can be moved arbitrarily in the left-right direction, so when coupling the work device U1 to the vehicle body 2, even if the position of the driven shaft US of the work device U1 relative to the drive shaft 7S of the secondary prime mover 7 is misaligned to the left or right, the position of the secondary prime mover 7 can be adjusted to the left or right, so the work device U1 can be smoothly coupled to the secondary prime mover 7.

[0049] The coupling device 6 is a device that couples a working implement U1 to the vehicle body 2. As shown in Figures 1 and 2, the coupling device 6 of the first embodiment is connected to the rear of the vehicle body 2 via a movement mechanism 80. The coupling device 6 of the first embodiment is provided on a slider 83 of the movement mechanism 80. Note that the work vehicle 1 of the first embodiment can be used with working implements U1 having various uses and functions, such as a baler, cultivator, spreader, or seed sower, by appropriately replacing the coupling device 6.

[0050] 1 to 4, the coupling device 6 has a lift arm 11, a lower link 12, a top link 13, a lift rod 14, a lift cylinder 15, and a hitch frame 16. Also, as shown in FIG. 1, the coupling device 6 has a suspension device 17. The coupling device has a prime mover (hereinafter referred to as an auxiliary prime mover) 7 that drives the working device U1. In the first embodiment, the auxiliary prime mover 7 is an electric motor that is driven by electricity stored in a battery 8.

[0051] As shown in FIG. 2, the lift arm 11, lower link 12, lift rod 14, and lift cylinder 15 are all provided on either side of an imaginary line VC that divides the slider 83 in the left-right direction at the center.

[0052] The lift arm 11, lower link 12, and top link 13 are all frames that are long in one direction and are pivotally supported at the rear of the slider 83. More specifically, as shown in Figure 4, the first end 21 of the lift arm 11 is connected to an arm support shaft 2N that extends in the left-right direction at the rear of the slider 83 so as to be rotatable about the arm support shaft 2N. On the other hand, the second end 22 of the lift arm 11 is connected to a lift rod 14. The lift arm 11 extends rearward from the arm support shaft 2N.

[0053] Lower link 12 has a first end 23 connected to the lower part of slider 83 so as to be rotatable about an axis extending in the left-right direction of slider 83. On the other hand, a second end 24 of lower link 12 is connected to hitch frame 16. Lower link 12 extends rearward from the lower part of slider 83.

[0054] The top link 13 has a first end 25 connected to an upper portion of the slider 83 so as to be rotatable about an axis extending in the left-right direction of the slider 83. On the other hand, a second end 26 of the top link 13 is connected to the hitch frame 16.

[0055] The lift rod 14 connects the lift arm 11 and the lower link 12 on the same left and right side. More specifically, the first end 27 of the lift rod 14 is connected to the second end 22 of the lift arm 11 so as to be rotatable about an axis extending in the left-right direction. On the other hand, the second end 28 of the lift rod 14 is connected to the middle portion between both ends 23, 24 of the lower link 12 so as to be rotatable about an axis extending in the left-right direction. The lift rod 14 extends between the lift arm 11 and the lower link 12 on the same left and right side.

[0056] Joints 29 are provided at the second end 24 of the left lower link 12, the second end 24 of the right lower link 12, and the second end 26 of the top link 13. The hitch frame 16 is detachably connected to these three joints 29. That is, as shown in FIGS. 1 and 2 , the connecting device 6 of the first embodiment supports the hitch frame 16 with a link mechanism 30 made up of three links: the left and right lower links 12, and the top link 13 located above and in the center between the left and right lower links 12. Furthermore, the working device U1 used in connection with the work vehicle 1 of the first embodiment has, for example, one engagement portion located at an upper position on the work vehicle 1 side and two engagement portions located on the left and right sides. The working device U1 is connected to the hitch frame 16 via these three engagement portions. Details of the hitch frame 16 will be described later.

[0057] The lift cylinder 15 of the first embodiment is a hydraulic cylinder that expands and contracts in its extension direction by hydraulic pressure, and connects the lift arm 11 on the same left or right side to the slider 83. Specifically, as shown in Figure 4, the first end 31 of the lift cylinder 15 is connected to the middle portion between both ends 21, 22 of the lift arm 11 so as to be rotatable about an axis extending in the left-right direction. On the other hand, the second end 32 of the lift cylinder 15 is connected to the rear portion of the slider 83 so as to be rotatable about an axis extending in the left-right direction.

[0058] Therefore, when the lift cylinder 15 is extended, the lift arm 11 swings upward around the first end 21 as a fulcrum, pulling up the lift rod 14. As a result, the lower link 12 is pulled up in conjunction with this and swings upward around the first end 23 as a fulcrum. On the other hand, when the lift cylinder 15 is retracted, the lift arm 11 swings downward around the first end 21 as a fulcrum, pulling down the lift rod 14. Accordingly, the lower link 12 is also pulled down in conjunction with this and swings downward around the first end 23 as a fulcrum. In this way, the connecting device 6 swings the lower link 12 up and down using the lift cylinder 15.

[0059] The top link 13 has a first end 25 rotatably connected to the slider 83. The second end 26 of the top link 13 is connected to the hitch frame 16 together with the second end 24 of the lower link 12. That is, the second end 26 of the top link 13 and the second end 24 of the lower link 12 are connected via the hitch frame 16. Therefore, when the lower link 12 is swung up and down as described above, the top link 13 also swung up and down accordingly. The hitch frame 16 is supported by a link mechanism 30 consisting of these three links 12, 13 so as to be able to move up and down.

[0060] The lift cylinders 15 are connected to a hydraulic pump mounted on the vehicle body 2 via a hydraulic circuit, and their operation is controlled by a control device of the vehicle body 2. The left and right lift cylinders 15 can be independently controlled. The lift cylinders 15 may also be electric cylinders that are driven by electricity supplied from the vehicle body 2.

[0061] 5 and 6 , the hitch frame 16 includes a frame body 41, an upper connecting portion 42, a lower connecting portion 43, a bracket 44, and a protective member 45. The frame body 41 is made of a metal material containing iron as a primary component. The frame body 41 includes a main frame portion 46, a middle crosspiece portion 47, and an auxiliary frame portion 48.

[0062] The main frame portion 46, middle crosspiece portion 47, and auxiliary frame portion 48 are all formed from square pipes, round pipes, flat bars, etc. The main frame portion 46 is curved in an arch shape. Specifically, the main frame portion 46 has a left-right central portion 46C curved in a generally arcuate shape that convexes upward, and left-right side portions 46S extending diagonally downward and outward from the central portion 46C. The middle crosspiece portion 47 extends left-right at a generally central position in the up-down direction of the main frame portion 46 and connects the left and right side portions 46S to each other.

[0063] The auxiliary frame portions 48 are bent into a generally L-shape and are disposed at the left and right lower ends of the main frame portion 46, spaced apart in the left-right direction. Specifically, the auxiliary frame portions 48 have lower portions 48U extending from the lower ends of the side portions 46S of the main frame portion 46 toward the center in the left-right direction, and inner portions 48S extending upward from the center ends of the lower portions 48U. The upper ends of the inner portions 48S of the auxiliary frame portions 48 are connected to the middle crosspiece 47. The inner portions 48S of the left and right auxiliary frame portions 48 are disposed generally parallel to each other at a predetermined interval in the left-right direction. The brackets 44 are disposed between the left and right inner portions 48S. Details of the brackets 44 will be described later.

[0064] The upper connecting portion 42 is provided at the center portion 46C of the main frame portion 46. The upper connecting portion 42 has a first link portion 51 and a first hook portion 52. The first link portion 51 is provided at the top of the upper connecting portion 42 and pivotally supports the second end portion 26 of the top link 13. The first hook portion 52 is provided at the rear of the upper connecting portion 42 and engages and holds the upper engagement portion of the working device U1. In the first embodiment, the first hook portions 52 are provided at two locations, one above and one below, at the rear of the upper connecting portion 42. Therefore, the upper engagement portion of the working device U1 can be engaged with the hitch frame 16 at different heights. Note that the first hook portion 52 may be provided at only one location at the rear of the upper connecting portion 42.

[0065] The lower connecting portions 43 are provided at the lower ends of the left and right side portions 46S of the main frame portion 46. Each of the left and right lower connecting portions 43 has a second link portion 53 and a second hook portion 54. The second link portion 53 is provided on the outer side of the lower connecting portion 43 and pivotally supports the second end portion 24 of the lower link 12. The second hook portion 54 is provided at the rear of the lower connecting portion 43 and engages and holds the lower engaging portion of the working device U1.

[0066] The bracket 44 is a plate member that serves as a mounting portion for the secondary motor 7, and is provided between the inner portions 48S of the left and right auxiliary frame portions 48. The bracket 44 is made of a metal material containing iron as its main component. The bracket 44 has a base portion 55, a side end plate portion 56, a support shaft portion 57, a motor receiving frame portion 58, and a shaft connection portion 59.

[0067] 6 and 7 , the base plate portion 55 has a through hole 60. The through hole 60 is provided in the center between the left and right sides of the base plate portion 55. The shaft connection portion 59 is inserted into the through hole 60 from the front (the back side of the through hole 60 when viewed from the rear of the vehicle body 2).

[0068] The side end plates 56 are formed by bending rearward at the left and right ends of the base plate 55. The support shafts 57 are formed by protruding outward in the left-right direction from the outer left-right surfaces of the side end plates 56, and are pivotally supported on the inner portions 48S of the auxiliary frame portions 48 of the frame main body 41. In this way, the bracket 44 is supported rotatably with respect to the frame main body 41, with the left and right support shafts 57 as fulcrums.

[0069] The motor receiving frame 58 extends outward in the left-right direction from the base plate 55. The secondary prime mover 7 is fixed to the left and right motor receiving frame 58. The shaft connecting portion 59 is a shaft coupling having a first connecting portion 67 and a second connecting portion 68. The first connecting portion 67 is connected to the drive shaft 7S of the secondary prime mover 7 in a rotation-preventing manner. On the other hand, the second connecting portion 68 has a hole shape that can fit the driven shaft US of the working device U1 in a rotation-preventing manner, and transmits power to the driven shaft US in a fitted state. Therefore, when the drive shaft 7S of the secondary prime mover 7 is driven to rotate, the driven shaft US of the working device U1 is also driven to rotate accordingly. In this way, the drive shaft 7S of the secondary prime mover 7 is directly connected to the driven shaft US of the working device U1 so as to transmit power.

[0070] As described above, the auxiliary prime mover 7 is an electric motor that is driven by receiving electric power from the vehicle body 2. As shown in Figures 7 and 8, the auxiliary prime mover 7 has a housing 70 and a drive shaft 7S. The auxiliary prime mover 7 may be a gasoline engine or a hydraulic motor, as long as it is small and lightweight.

[0071] The housing 70 is made of a metal material containing iron as a main component. The housing 70 has a mounting frame portion 71 and a hanging portion 72. The housing 70 is formed in a substantially cylindrical shape and rotatably holds the drive shaft 7S therein. The mounting frame portion 71 is provided at a first end of the housing 70 and is fixed with bolts or the like in a state facing the base portion 55 of the bracket 44. In other words, the housing 70 is closely connected to the bracket 44. The drive shaft 7S is provided to protrude from the mounting frame portion 71.

[0072] In this way, the auxiliary prime mover 7 is supported swingably relative to the frame main body 41, so that the angle at which the driven shaft US of the working device U1 is connected to the drive shaft 7S of the auxiliary prime mover 7 can be adjusted as desired. The mounting frame 71 may be configured separately from the housing 70, or may be formed integrally with the housing 70.

[0073] The hanging portion 72 is provided on the upper outer periphery of the housing 70 as a connecting portion that connects and holds the hanging device 17. The hanging portion 72 in the first embodiment is provided on the upper outer periphery of the end of the housing 70 opposite the mounting frame portion 71. The hanging portion 72 may be configured separately from the housing 70, or may be formed integrally with the housing 70. Details of the hanging device 17 will be described later.

[0074] The protective member 45 is provided along the outer surface of the housing 70. More specifically, the protective member 45 is provided at a position where it contacts both the mounting frame 71 of the housing 70 and the motor receiving frame 58 of the bracket 44. In the first embodiment, the protective member 45 is provided along the joint (the periphery of the mating surface) with the motor receiving frame 58 at the lower outside of the housing 70.

[0075] The protective member 45 is a member formed from a metal material having a higher ionization tendency than the base material of the bracket 44, i.e., a metal material containing a sacrificial anode material as a main component. For example, in the first embodiment, the bracket 44 is formed from a metal material containing iron as a main component, whereas the protective member 45 is formed from a metal material containing zinc or aluminum as a main component.

[0076] The protective member 45 is removably attached to the bracket 44 with bolts or the like. Therefore, if sacrificial corrosion of the protective member 45 progresses, it can be replaced with a new protective member 45 as needed. Note that the protective member 45 may be removably attached to the housing 70 or may be removably attached to another location, as long as it is provided in a position that contacts both the housing 70 and the bracket 44. Furthermore, a plurality of protective members 45 may be arranged side by side so as to contact the entire periphery of the joint between the housing 70 and the bracket 44.

[0077] As shown in Figure 8, the suspension device 17 is connected between the hitch frame 16 and the secondary motor 7, and supports the secondary motor 7 in a swingable manner relative to the hitch frame 16. The suspension device 17 in the first embodiment is a tension coil spring. However, the suspension device 17 may be a compression coil spring or a leaf spring as long as it can suspend and support the secondary motor 7 in a stable position relative to the hitch frame 16. Alternatively, the suspension device 17 may be an air damper or a hydraulic damper.

[0078] The suspension device 17 has a first end 17A and a second end 17B. The first end 17A is connected to a rear portion of the upper connecting portion 42 of the hitch frame 16. On the other hand, the second end 17B is connected to a suspension portion 72 provided on the upper outer periphery of the housing 70 of the secondary prime mover 7. That is, the second end 17B is connected to a position spaced apart from the swing center CL2 of the bracket 44 in the direction of the axis CL3 of the drive shaft 7S on the upper outer periphery of the housing 70. Therefore, the secondary prime mover 7 is supported at three different points (three points located at the vertices of an imaginary triangle) - the swing center CL2 of the bracket 44, a position spaced apart from the swing center CL2 in the direction of the axis CL3 of the drive shaft 7S, and the upper connecting portion 42 of the hitch frame 16.

[0079] The suspension device 17 elastically expands and contracts between the first end 17A and the second end 17B. Therefore, when an external force is applied to the secondary motor 7 in the swing direction due to its own weight or vibrations during travel, the suspension device 17 applies a tensile force (a restoring force against extension) to the secondary motor 7 that resists the external force. As a result, the secondary motor 7 is held in a stable suspended position relative to the hitch frame 16, and the load applied to the connection between the drive shaft 7S of the secondary motor 7 and the driven shaft US of the working device U1 is also absorbed.

[0080] <Modifications> In the work vehicle 1 of the first embodiment, the drive shaft 7S of the secondary engine 7 is connected to the driven shaft US of the work device U1 via the coupling 66, but the drive shaft 7S of the secondary engine 7 may be configured to be directly connectable thereto.

[0081] Specifically, the drive shaft 7S of the secondary prime mover 7 may be a hollow shaft with a shaft connection 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 connection portion (inside the shaft of the hollow shaft). The shaft connection portion has a hole shape that allows the driven shaft US of the working device U1 to be fitted in a non-rotational state, and transmits power to the driven shaft US in the fitted state.

[0082] Alternatively, the driven shaft US of the working device U1 may be a hollow shaft with a shaft connection portion provided at its tip. On the other hand, the drive shaft 7S of the secondary prime mover 7 is a shaft that can be fitted into the shaft connection portion (inside the shaft of the hollow shaft). The shaft connection portion has a hole shape that can fit the drive shaft 7S of the secondary prime mover 7 in a rotation-preventing state, and transmits power to the drive shaft 7S in a fitted state. This configuration also provides the same effects as the work vehicle 1 of the first embodiment.

[0083] Furthermore, although the work vehicle 1 of the first embodiment described above has the coupling device 6 attached to the rear of the vehicle body 2, the coupling device 6 may also be attached to the front of the vehicle body 2. In this work vehicle 1 as well, the working device U1 can be smoothly coupled to the vehicle body 2 if the bracket 44 is coupled to the hitch frame 16 so as to be able to swing about an axis CL2 extending in the left-right direction (width direction) of the vehicle body 2.

[0084] In the work vehicle 1 of the first embodiment, the angle at which the driven shaft US of the working device U1 is connected to the drive shaft 7S of the secondary prime mover 7 can be adjusted as desired by swinging the secondary prime mover 7, but a universal joint may be provided on the drive shaft 7S of the secondary prime mover 7 so that the angle at which the drive shaft 7S is connected to the driven shaft US can be adjusted as desired by the universal joint 75. In this way, the drive shaft 7S of the secondary prime mover 7 is indirectly connected to the driven shaft US of the working device U1 so as to be able to transmit power, thereby achieving the same effects as the work vehicle 1 of the first embodiment.

[0085] Second Embodiment A work vehicle according to a second embodiment of the present invention will be described with reference to the drawings. In the following description of the second embodiment, the straight-ahead direction of the work vehicle (the direction in which it moves forward or backward in a straight line) will be referred to as the longitudinal direction, the forward side in the longitudinal direction will be referred to as the front, and the backward side in the longitudinal direction will be referred to as the rear. Accordingly, the direction corresponding to the width of the work vehicle, which is perpendicular to the longitudinal direction and the up-down direction, will be referred to as the lateral direction. Furthermore, based on the center line extending in the longitudinal direction of the work vehicle, the right side in the lateral direction when looking from the rear side to the front side will be referred to as one side of the lateral direction or the right, and the left side in the lateral direction when looking from the rear side to the front side will be referred to as the other side of the lateral direction or the left.

[0086] The work vehicle of the second embodiment is an electric work vehicle that drives an electric motor using power supplied from a drive battery to cause a work implement to perform a predetermined task while traveling. As shown in Figures 9 and 10 , a work vehicle 101 is coupled to a work implement 110 that performs a predetermined task at a work site.

[0087] The work implement 110 is coupled to the work vehicle 101 while being disposed in front or behind (rear in Figures 9 and 10) the work vehicle 101. In the second embodiment, the work vehicle 101 is an agricultural work vehicle (a so-called tractor) used in a farm field, which is a work site. 9 and 10 , the working device 110 is shown simplified with virtual lines, but examples of the working device 110 connected to the work vehicle 101 include a rotary (cultivator) that tills the soil in the field, a plow that turns the soil over in the field, a soiler that breaks up clumps of soil in the field, a harrow, a ridge coating machine that coats ridges, a seed sower that sows seeds in the field, a ridge maker that makes ridges, a broadcaster that spreads fertilizer and soil conditioner, a mulcher (mulch) that mulches the ridges, a cultivator that weeds between the ridges, a flail mower that mows the grass, and a harvester (digger) that digs up crops in the soil in the field. The working device 110 connected to the work vehicle 101 is replaced (changed) with another working device 110 depending on the type of work (purpose) at the work site.

[0088] Accordingly, the work vehicle 101 is provided with a coupling device 106 for coupling the work implement 110. That is, the work vehicle 101 is provided with a drivable vehicle body 102 and a coupling device 106 attached to the vehicle body 102.

[0089] More specifically, the work vehicle 101 comprises a vehicle body 102, a traveling device 103 that supports the vehicle body 102 so that it can travel, a traveling electric motor 104 that drives the traveling device 103, a driving battery 105 that is supported directly or indirectly on the vehicle body 102 and is capable of supplying power to the traveling electric motor 104, and a coupling device 106 that is attached to the vehicle body 102 and couples a work device 110 to the vehicle body 102. The work vehicle 101 of the second embodiment also comprises a control device 108 that controls the power supply of the driving battery 105.

[0090] The vehicle body 102 has a vehicle body frame 120 that extends in the front-to-rear direction and supports a drive battery 105. The vehicle body 102 also has a hood 121 that covers the equipment on the vehicle body frame 120 from above and from the sides. The hood 121 covers the equipment located in half or approximately half of the area on the front side of the vehicle body frame 120 in the front-to-rear direction. The work vehicle 101 is for passenger use and has a driver's seat 122 located behind the hood 121. The work vehicle 101 also has a protection mechanism 123 that protects the driver's seat 122.

[0091] The vehicle body 102 has a drive transmission device 124 that transmits the drive of the traveling electric motor 104 to the traveling device 103. The drive transmission device 124 includes a transmission mechanism that transmits the output (rotational force) of the traveling electric motor 104 to rear wheels 103b (a pair of rear wheels 103b, 103b) of the traveling device 103, which will be described later, and a casing 124a that houses the transmission mechanism. The transmission mechanism includes a clutch mechanism, a gear mechanism, and the like that are connected to the output shaft of the traveling electric motor 104. The transmission mechanism distributes and transmits the output of the traveling electric motor 104 to the pair of rear wheels 103b, 103b. In the second embodiment, the casing 124a of the drive transmission device 124 also serves as part of the vehicle body frame 120.

[0092] Specifically, the body frame 120 includes a front frame 120a disposed on the front side in the front-to-rear direction, and a casing 124a of the drive transmission device 124. That is, the body frame 120 includes the front frame 120a as a structural body, and the casing 124a that houses the transmission mechanism of the drive transmission device 124 and is connected directly or indirectly to the front frame 120a.

[0093] The front frame 120a supports the driving battery 105. That is, the driving battery 105 is disposed on the front frame 120a and is fixed to the front frame 120a in an undetachable manner. The driving battery 105 is disposed inside the hood 121. That is, the hood 121 faces the driving battery 105 laterally and up and down, and covers the driving battery 105.

[0094] The traction electric motor 104 is disposed on the front frame 120a. That is, the traction electric motor 104 is firmly fixed to the front frame 120a. In the second embodiment, the output shaft 104b of the traction electric motor 104 protrudes rearward in the front-to-rear direction. Specifically, the traction electric motor 104 includes a motor case 104a that houses a rotor, and an output shaft 104b that is connected to the rotor and protrudes outward from the motor case 104a. The traction electric motor 104 has the motor case 104a located forward in the front-to-rear direction and the output shaft 104b located rearward of the motor case 104a in the front-to-rear direction. The output shaft 104b of the traction electric motor 104 has an axial core that extends in the front-to-rear direction. A transmission mechanism of the drive transmission device 124 is connected to the output shaft 104b of the traction electric motor 104. As a result, the drive transmission device 124 is disposed rearward of the traveling electric motor 104. In the second embodiment, the casing 124a of the drive transmission device 124 is connected to the traveling electric motor 104. As a result, the drive transmission device 124 is indirectly connected to the front frame 120a via the traveling electric motor 104, and is disposed rearward of the front frame 120a.

[0095] In the second embodiment, the traction electric motor 104 is disposed below the drive battery 105. The front frame 120a supports the drive battery 105 as well as devices such as a radiator He that cools the traction electric motor 104 and the drive battery 105. These devices such as the radiator He are disposed in front of the drive battery 105 and are disposed inside the hood 121 together with the drive battery 105. As a result, the traction electric motor 104 and the drive battery 105 are disposed within half or approximately half of the area on the front side in the fore-and-aft direction of the body frame 120.

[0096] The protection mechanism 123 of the second embodiment is a so-called cabin that covers the driver's seat 122 and defines a driver's cab D. Various devices (operating devices 230 such as a steering wheel and control levers, a display device 231, etc.) are arranged in the driver's cab D (inside the protection mechanism 123). The driver's seat 122 and the protection mechanism 123 are located above the body frame 120 and supported by the body frame 120.

[0097] Specifically, the driver's seat 122 and the protection mechanism 123 are located above a casing 124a of the drive transmission device 124 in the body frame 120 and are fixed to the casing 124a. As a result, the driver's seat 122 and the protection mechanism 123 are located in half or approximately half of the area on the rear side in the fore-and-aft direction of the body frame 120. Devices such as the operating device 230 and the display device 231 are arranged in front of the driver's seat 122 so that an operator seated in the driver's seat 122 can perform operations, etc. Devices such as the operating device 230 and the display device 231 arranged in the driver's cab D are also located in half or approximately half of the area on the rear side in the fore-and-aft direction of the body frame 120.

[0098] The traveling device 103 may be a crawler-type traveling device or a tire-type traveling device. In the second embodiment, the traveling device 103 is a tire-type traveling device. More specifically, the traveling device 103 includes front wheels 103a and rear wheels 103b spaced apart in the front-rear direction. The front wheels 103a and rear wheels 103b are each arranged as a pair spaced apart in the lateral direction (vehicle width direction). That is, the traveling device 103 includes a pair of front wheels 103a, 103a arranged to sandwich the vehicle body 102 in the lateral direction, and a pair of rear wheels 103b, 103b arranged rearward of the pair of front wheels 103a, 103a in the front-rear direction and to sandwich the vehicle body 102 in the lateral direction. In the work vehicle 101 of the second embodiment, each of the pair of front wheels 103a, 103a is a steered wheel that is operated by an operating device 230 (steering wheel), and each of the pair of rear wheels 103b, 103b is a driven wheel that is driven by a traveling electric motor 104. Note that the traveling device 103 of the work vehicle 101 may be a so-called 4WD (four-wheel drive) in which the pair of front wheels 103a, 103a are steered wheels but are also driven together with the pair of rear wheels 103b, 103b.

[0099] The drive battery 105 is disposed in the vehicle body 102. The drive battery 105 is a secondary battery that can be charged and discharged. In the second embodiment, the drive battery 105 is a lithium-ion battery. Specifically, the drive battery 105 is an assembled battery made up of a plurality of battery cells, and is capable of supplying a large amount of power. The drive battery 105 is connected to the traction electric motor 104 via a power line L so as to be able to supply power.

[0100] In the second embodiment, the driving battery 105 is also connected to be able to supply power to electrical devices 706, 162, 163, 164 (in the second embodiment, an electric motor 706 for the device, a first actuator 162, a second actuator 163, and a third actuator 164, which will be described later) mounted on the coupling device 106 via a power line L. An electrical circuit switch that opens and closes an electrical circuit in response to a command from the control device 108 is provided on the power line L.

[0101] As a result, based on instructions from the control device 108, power is supplied to and the supply of power is stopped for the electrical equipment 706, 162, 163, 164 mounted on the coupling device 106 (in the second embodiment, the device electric motor 706, first actuator 162, second actuator 163, and third actuator 164 described below).

[0102] The coupling device 106 is attached to the vehicle body 102. The coupling device 106 of the second embodiment is attached to the vehicle body frame 120 of the vehicle body 102. Specifically, the coupling device 106 is attached to at least one of the front end and the rear end of the vehicle body frame 120. Accordingly, the working device 110 connected to the coupling device 106 is disposed at least one of the front and rear in the longitudinal direction of the vehicle body 102. In the second embodiment, the coupling device 106 is attached to the rear end of the vehicle body frame 120. Accordingly, the working device 110 is disposed at the rear in the longitudinal direction of the vehicle body 102.

[0103] The coupling device 106 has a first device section 160 that is supported directly or indirectly on the vehicle body 102, and a second device section 170 that includes a coupling section 700 to which a work device 110 that performs a specified task can be coupled.

[0104] As shown in FIG. 9 , the first device unit 160 supports the second device unit 170 so that it can move linearly at least in the vertical direction, which is a linear direction perpendicular to the horizontal direction. In the second embodiment, the first device unit 160 is rotatable about an axis S1 extending in the horizontal direction (hereinafter referred to as the first horizontal axis) as shown in FIG. 10 . Furthermore, in the coupling device 106 of the second embodiment, the second device unit 170 is movable in a linear direction perpendicular to the horizontal direction and rotatable about a vertical axis S2 extending in the front-rear direction (see FIGS. 13 and 14 ). That is, the coupling device 106 is switchable between a first state in which the second device unit 170 can move linearly in the vertical direction and a second state in which the second device unit 170 can move linearly in an inclined direction relative to the vertical direction. The second state is not limited to a state in which the linear motion direction of the second device unit 170 is tilted at a fixed angle with respect to the vertical direction, but includes a state in which the linear motion direction of the second device unit 170 is tilted at a fixed angle or at any angle (within the movable range) with respect to the vertical direction by operation of the operating device 230. Therefore, when the connecting device 106 in the first state starts to rotate the first device unit 160 around the first horizontal axis S1, the connecting device 106 is switched from the first state to the second state.

[0105] Accordingly, as shown in FIGS. 11 to 14 , the coupling device 106 has a plurality of actuators 162, 163, and 164. Specifically, the coupling device 106 has a first actuator 162 that linearly moves the second device unit 170 in a linear direction perpendicular to the lateral direction. The coupling device 106 also has a second actuator 163 that rotates the first device unit 160 about a first lateral axis S1 (see FIG. 11 ). The coupling device 106 of the second embodiment also has a third actuator 164 that rotates the second device unit 170 about a vertical axis S2. The coupling device 106 also has an arm 165 that has a base end that is coupled to the vehicle body 102 and a tip end opposite the base end, and that extends outward from the vehicle body 102 (vehicle body frame 120) in a direction perpendicular to the up-down direction (see FIGS. 9 to 11 ).

[0106] In the second embodiment, the first device section 160 has a guide device 166 that can guide the second device section 170 at least in the vertical direction among linear directions perpendicular to the horizontal direction (see FIGS. 9 and 11).

[0107] The guiding device 166 includes a guiding body 167 extending in a linear direction perpendicular to the lateral direction, and a guided body 168 guided by the guiding body 167, to which the second device part 170 is directly or indirectly connected.

[0108] The guide body 167 is a so-called rail that extends straight in a linear direction perpendicular to the lateral direction and guides the guided body 168 in this linear direction. Accordingly, in the following description, the extending direction of the guide body 167 (the linear direction in which the guided body 168 is guided) will be referred to as the guiding direction. As shown in FIGS. 15 and 16 , in the second embodiment, the cross section of the guide body 167 viewed from the guiding direction is T-shaped. That is, the guide body 167 is a T-beam. Specifically, the guide body 167 has a strip-shaped base portion 670 that is elongated in one direction, and a protruding piece 671 that is protruded in a direction perpendicular to the plane of one surface of the base portion 670 at the center of the width direction perpendicular to the longitudinal direction and extends over the entire length of the base portion 670 in the longitudinal direction. In the second embodiment, one surface of the base portion 670 and both surfaces of the protruding piece 671 serve as guide surfaces that guide the guided body 168.

[0109] In the second embodiment, as shown in Figures 12 to 14, the guiding device 166 has a pair (two) of guiding bodies 167 configured as described above. Accordingly, it also includes a pair (two) of guided bodies 168 guided by each guiding body 167. The pair of guiding bodies 167 are arranged parallel or approximately parallel with a gap between them in the lateral direction. In the second embodiment, the pair of guiding bodies 167 are arranged symmetrically (plane-symmetrically) with respect to an imaginary plane VS along the center line extending in the front-rear direction of the body frame 120. The pair of guiding bodies 167 are arranged with their base portions 670 facing each other, and their respective protruding pieces 671 protrude laterally outward from the base portion 670.

[0110] As shown in Figures 15 and 16, the guided body 168 has a flat base plate 680 arranged opposite the base portion 670 of the guiding body 167, a first guide roller 681 located on one side of the base plate 680 and supported by the base plate 680, the first guide roller 681 being rotatable around a first roller axis 681a extending in a direction perpendicular to the guiding direction while being parallel or approximately parallel to the base plate 680, and a second guide roller 682 located on one side of the base plate 680 and supported by the base plate 680, the second guide roller 682 being rotatable around a second roller axis 682a extending in a direction perpendicular to the base plate 680.

[0111] The first guide roller 681 abuts against one surface (guide surface) of the base portion 670 of the guiding body 167 and rolls on that surface (guide surface), and the second guide roller 682 abuts against one of the surfaces (guide surface) of the protruding piece portion 671 of the guiding body 167 and rolls on that surface (guide surface). In the guided body 168 of the second embodiment, the first guide roller 681 and the second guide roller 682 are arranged on both sides of the protruding piece portion 671 of the guiding body 167. That is, the guided body 168 has a pair of first guide rollers 681 arranged on both sides of the protruding piece portion 671 of the guiding body 167, and a pair of second guide rollers 682 arranged on both sides of the protruding piece portion 671 of the guiding body 167 and sandwiching the protruding piece 671.

[0112] As a result, the guided body 168 is guided in the direction in which the protruding piece 671 extends (the longitudinal direction of the protruding piece 671) while movement of the guide body 167 in the direction perpendicular to the plane of the base part 670 (towards the base part 670) and in the direction perpendicular to the plane of the protruding piece 671 of the guide body 167 is restricted. In other words, the guided body 168 is guided in the direction perpendicular to the first roller shaft 681a of the first guide roller 681 and the second roller shaft 682a of the second guide roller 682.

[0113] The guided body 168 of the second embodiment has two sets (two pairs) of pairs of first guide rollers 681 and two sets (two pairs) of pairs of second guide rollers 682, and the two sets of first pairs of first guide rollers 681 and the two sets of pairs of second guide rollers 682 are arranged at an interval in the guiding direction and supported by the base plate 680. This also prevents the guided body 168 from tilting (falling over) around an axis perpendicular to the base part 670 of the guiding body 167.

[0114] In the second embodiment, the first roller shaft 681a is supported by a flange portion projecting from the base plate 680, and the second roller shaft 682a is projecting from one surface of the base plate 680. In addition, in the guided body 168 of the second embodiment, a reinforcing rib 683 is projecting from the other surface of the base plate 680 and extending in the guiding direction.

[0115] 11 to 14, the first device section 160 has connecting frames 672, 673 that connect the pair of guide bodies 167. In the second embodiment, the first device section 160 has, as the connecting frames 672, 673, a first connecting frame 672 that connects one ends (upper ends) of the pair of guide bodies 167 to each other, and a second connecting frame 673 that connects the other ends (lower ends) of the pair of guide bodies 167 to each other.

[0116] In the second embodiment, the first connecting frame 672 and the second connecting frame 673 are made of square steel pipes. Each of the first connecting frame 672 and the second connecting frame 673 extends straight in the horizontal direction. As a result, the pair of guide bodies 167, 167, the first connecting frame 672, and the second connecting frame 673 integrally form a rectangular frame. In the second embodiment, the pair of guide bodies 167, 167 are arranged with one end in the short direction (direction perpendicular to the long direction) of the base portion 670 facing the vehicle body 102 (the front side in the longitudinal direction).

[0117] Based on this premise, the first device unit 160 of the second embodiment has, as connecting frames 674, 675, a third connecting frame 674 that connects together one end of the short sides of the base units 670 located in the longitudinal middle of the pair of guide units 167, and a fourth connecting frame 675 that connects together one end of the short sides of the base units 670 located on the other end sides of the pair of guide units 167. In the second embodiment, the third connecting frame 674 and the fourth connecting frame 675 are also made of square steel pipes. Each of the third connecting frame 674 and the fourth connecting frame 675 extends straight in the horizontal direction.

[0118] As shown in FIG. 17 , a first bracket portion 678 for connecting the second actuator 163 is provided at the lateral center of the third connecting frame 674. The fourth connecting frame 675 is also provided with a pair of second bracket portions 679 for connecting to the tip ends of the arms 165, the second bracket portions 679 being spaced apart in the lateral direction. The first bracket portion 678 protrudes forward in the longitudinal direction from the third connecting frame 674 and is positioned so as to overlap laterally with one end (rod end in the second embodiment) of the second actuator 163, which is a cylinder device. The pair of second bracket portions 679 protrude forward in the longitudinal direction from the fourth connecting frame 675. The arrangement and lateral spacing of the pair of second bracket portions 679 are set according to the arrangement and spacing of the pair of arms 165 (tip ends). That is, the second bracket portions 679 are positioned so as to overlap laterally with the tip ends of the arms 165 extending from the body frame 120. In the second embodiment, the second bracket portion 679 is connected to the tip end of the arm 165 via the first horizontal shaft S1, and is connected to the arm 165 so as to be rotatable about the first horizontal shaft S1.

[0119] The first bracket portion 678 and the second bracket portion 679 may be brackets made of a single plate material, but in the second embodiment, they are configured as a pair of brackets, each made of a plate material, and arranged to sandwich the object to be connected (the second actuator 163 in the case of the first bracket portion 678, and the arm 165 in the case of the second bracket portion 679) from the side.

[0120] 11 to 14, the first device section 160 includes a mounting frame 169 to which the second device section 170 is attached. The first device section 160 also includes an actuator connecting section 676 to which the first actuator 162 is connected.

[0121] The mounting frame 169 is connected to the guided bodies 168. As a result, the mounting frame 169 allows movement of the second device unit 170 connected to the mounting frame 169 in the guiding direction. In the second embodiment, the guided bodies 168 are attached to each of a pair of guiding bodies 167 that are spaced apart in the horizontal direction, and therefore the pair of guided bodies 168 are also spaced apart in the horizontal direction. Accordingly, as shown in FIGS. 18 and 19 , the mounting frame 169 is disposed across the pair of guided bodies 168 and connects the pair of guided bodies 168. That is, the mounting frame 169 includes a horizontal beam portion (hereinafter referred to as a first horizontal beam portion) 690 extending in the horizontal direction, and connects the pair of guided bodies 168 via the first horizontal beam portion 690.

[0122] Specifically, the mounting frame 169 has a pair of arms (hereinafter referred to as first arms) 691a, 691a connected to each of the pair of guided bodies 168, and the pair of first arms 691a, 691a extend from the connected guided bodies rearward in the fore-and-aft direction relative to the guiding body 167, and a first cross beam portion 690 extending laterally and connecting the pair of first arms 691a, 691a.

[0123] In the second embodiment, in addition to the above configuration, the mounting frame 169 has a pair of arms (hereinafter referred to as second arms) 691b, 691b connected to each of a pair of guided bodies 168 at a position below the pair of first arms 691a, 691a, respectively, and the pair of second arms 691b, 691b extending from the connected guided bodies rearward in the fore-and-aft direction relative to the guiding body 167, a pair of connecting pillars 692, 692 extending in the vertical direction and connecting the first arm 691a and second arm 691b which are lined up vertically, and a cross beam portion (hereinafter referred to as second cross beam portion) 693 extending in the horizontal direction and connecting the pair of connecting pillars 692, 692.

[0124] Furthermore, the mounting frame 169 of the second embodiment has a plurality of auxiliary pillars 694 (two in the second embodiment) arranged at intervals in the horizontal direction that connect the first cross beam portion 690 and the second cross beam portion 693, thereby increasing the rigidity of the mounting frame 169. The mounting frame 169 has a U-shape in plan view, and the first cross beam portion 690 and the second cross beam portion 693 connect the pair of first arms 691 a, 691 a and the pair of second arms 691 b, 691 b at positions that bypass the guide bodies 167. In other words, the first cross beam portion 690 and the second cross beam portion 693 are located rearward in the front-to-rear direction from the pair of guide bodies 167. In the second embodiment, the first cross beam portion 690, the first arm portion 691a, the second arm portion 691b, the connecting column 692, and the second cross beam portion 693 are all made of square steel pipes and are connected by welding.

[0125] The first device unit 160 has a connection portion 611 to which the second device unit 170 is connected, the connection portion 611 including a vertical axis S2 extending in the front-to-rear direction. In the second embodiment, the connection portion 611 is provided on the mounting frame 169, and the vertical axis S2 protrudes rearward from the mounting frame 169. More specifically, the connection portion 611 is provided on a surface of the first cross beam unit 690 facing rearward. Accordingly, the vertical axis S2 protrudes rearward from the first cross beam unit 690.

[0126] In the second embodiment, the connection portion 611 is set at the lateral center portion. That is, the vertical axis S2 is disposed at the lateral center of the first cross beam portion 690, more specifically, at a position corresponding to a center line that passes through the lateral center of the work vehicle 101 and extends in the front-to-rear direction.

[0127] In the second embodiment, as shown in Figures 12 to 14 and 17, the first actuator 162 is a cylinder device that extends in one axial direction and expands and contracts in that axial direction. Accordingly, the actuator connecting portion 676 includes a first connecting portion 676a to which one axial end (cylinder end in the second embodiment) of the first actuator 162 (cylinder device) is connected, and a second connecting portion 676b to which the other axial end (rod end in the second embodiment) of the first actuator 162 (cylinder device) is connected. In the second embodiment, the first actuator 162 is disposed with its axial direction aligned with the guide direction. In the second embodiment, the first actuator 162 is disposed on the second connecting frame 673 so as to correspond to the lateral center position of the second connecting frame 673.

[0128] Accordingly, the first connecting portion 676a is provided on the second connecting frame 673, and one axial end (cylinder end in the second embodiment) of the first actuator 162 is connected to the first connecting portion 676a. In contrast, the second connecting portion 676b is disposed at a position facing the first connecting portion 676a in the up-down direction, with the first actuator 162 interposed therebetween.

[0129] That is, the second connecting portion 676b is disposed at a midpoint (center) between the pair of guide bodies 167 in the lateral direction. The other axial end (rod end in the second embodiment) of the first actuator 162 is connected to the second connecting portion 676b. The second connecting portion 676b is connected to the mounting frame 169. Specifically, the first device unit 160 has a support column 695 connected to the mounting frame 169 and extending upward, and an upper arm 696 extending forward from the upper end of the support column 695 and extending between the pair of guide bodies 167, the upper arm 696 to which the second connecting portion 676b is attached.

[0130] In the second embodiment, the support pillar 695 is connected to the first cross beam portion 690 of the mounting frame 169, as shown in FIG. 18 . As shown in FIGS. 12 to 14 , in the second embodiment, the first device portion 160 has two support pillars 695. The two support pillars 695 are arranged with a gap between them in the horizontal direction. In the second embodiment, the two support pillars 695 are arranged symmetrically with respect to the center of the first cross beam portion 690. Accordingly, the first device portion 160 has a cross beam 697 that connects the upper ends of the two support pillars 695. The upper arm portion 696 extends forward from the cross beam 697, and its front tip is positioned between the pair of guide bodies 167. As described above, as the first actuator 162 is connected to the first connecting portion 676a on the second connecting frame 673, the second connecting portion 676b is attached to the underside of the upper arm portion 696 and connected to the other end of the first actuator 162.

[0131] In the second embodiment, the third actuator 164 is a cylinder device that extends in one axial direction and expands and contracts in that axial direction. Accordingly, a shaft (hereinafter referred to as the first support shaft) S3 that connects one axial end (a rod end in the second embodiment) of the third actuator 164 and extends in the front-to-rear direction is attached to one of the two support pillars 695. The first support shaft S3 is disposed a predetermined distance above the first cross beam portion 690. The first support shaft S3 is attached to a surface of the support pillar 695 facing rearward and protrudes rearward.

[0132] The second device unit 170 is connected to a mounting frame 169 of the first device unit 160. As a result, when the guided body 168 moves in the guiding direction along the guiding body 167, the second device unit 170 moves in the guiding direction following the movement of the guided body 168. In other words, when the first device unit 160 is oriented such that the longitudinal direction (guiding direction) of the guiding body 167 coincides with the up-down direction (vertical direction), the connecting device 106 is in the first state (standard state), and the second device unit 170 supported by the first device unit 160 becomes linearly movable in the up-down direction (vertical direction), which is a linear direction perpendicular to an axis extending in the lateral direction and perpendicular to the front-rear direction and the lateral direction (see FIG. 9 ). Furthermore, when the first device unit 160 tilts the longitudinal direction (guiding direction) of the guide body 167 in the longitudinal direction, the connecting device 106 enters a second state (changed state), and the second device unit 170 supported by the first device unit 160 becomes movable in a linear direction that is perpendicular to the axis extending laterally and inclined relative to the center line of the body frame 120 extending in the longitudinal direction (see Figure 10).

[0133] 20 and 21 , the second device unit 170 includes a connecting portion 700 to which the working device 110 is connected. More specifically, the second device unit 170 includes the connecting portion 700 and a support frame 703 that supports the connecting portion 700 and is connected to the first device unit 160. In the second embodiment, the second device unit 170 includes, in addition to the connecting portion 700 and the support frame 703, an electric motor (hereinafter referred to as an apparatus electric motor) 706 that drives the working device 110 connected to the connecting portion 700.

[0134] The working device 110 is connected to the connecting portion 700 of the second device unit 170. Here, in order to be able to connect an existing working device 110 that was the target of connection with a conventional connecting device (three-point link), the connecting portion 700 has a structure similar to the connecting structure of a three-point link (the structure of the tip end of the lower link and the tip end of the upper link). Specifically, the working device 110 has a pair of lower locking shafts that extend laterally and are spaced apart in the laterally direction, and an upper locking shaft that is located above the pair of lower locking shafts and at a position corresponding to the midpoint (center) of the pair of lower locking shafts in the laterally direction.

[0135] Accordingly, the connecting portion 700 is capable of supporting the working device 110 at three points, the pair of lower locking shafts and the pair of upper locking shafts. Specifically, the connecting portion 700 includes a pair of lower connecting portions 701, 701 that are arranged at a distance in the horizontal direction corresponding to the arrangement of the pair of lower locking shafts and that can lock the corresponding lower locking shafts, and an upper connecting portion 702 that is arranged above the pair of lower connecting portions 701, 701 corresponding to the arrangement of the upper locking shafts and that is arranged at a position that corresponds to the horizontal intermediate (center) position between the pair of lower connecting portions 701, 701 and that can lock the upper locking shaft.

[0136] As shown in Figures 22 and 23, the pair of lower connecting portions 701, 701 and the upper connecting portion 702 each have recesses 701a, 702a into which a laterally extending shaft (lower locking shaft LS1, upper locking shaft LS2) can be radially fitted. The recesses 701a of the pair of lower connecting portions 701, 701 are configured to allow the lower locking shaft LS1 to be fitted and disengaged in the front-to-rear direction (diagonal front-to-rear direction) (see Figure 22). In contrast, the recesses 702a of the upper connecting portion 702 are configured to allow the upper locking shaft LS2 to be fitted and disengaged in the up-down direction (see Figure 23). Each of the pair of lower connecting portions 701, 701 is provided with an engaging claw (stopper) 701b that can engage with the lower locking shaft LS1 in the recess 701a to prevent the lower locking shaft LS1 fitted in the recess 701a from falling out. The engaging claw 701b is switchable between a restricted state in which it protrudes into the recess 701a and can engage with the lower locking shaft LS1, and a released state in which it retracts from the recess 701a.

[0137] As shown in FIGS. 20 and 21 , the support frame 703 includes a first mounting portion 704 to which the connecting portion 700 is attached, and a second mounting portion 705 connected to the first device portion 160, the second mounting portion 705 being directly or indirectly connected to the first mounting portion 704. The third actuator 164 is a cylinder device extending in one axial direction and capable of expanding and contracting in this axial direction. The third actuator 164 is disposed across the first device portion 160 and the second device portion 170. Accordingly, the support frame 703 includes a shaft (hereinafter referred to as the second support shaft) S4 that connects the other axial end (cylinder end in the second embodiment) of the third actuator 164, the second support shaft S4 extending in the front-rear direction. In the second embodiment, the support frame 703 includes a bracket 705e that supports the second support shaft S4.

[0138] In the second embodiment, the first mounting portion 704 includes a first lower beam portion 704a to which a pair of lower connecting portions 701, 701 are attached, a first upper beam portion 704b arranged above the first lower beam portion 704a and to which the upper connecting portion 702 is attached, and a first connecting pillar 704c connecting the first lower beam portion 704a and the first upper beam portion 704b.

[0139] The first lower beam portion 704a and the first upper beam portion 704b are spaced apart in the vertical direction to match the arrangement of the upper connecting portion 702 and the lower connecting portion 701. The first connecting pillar 704c extends in the vertical direction, with its upper end connected to the first upper beam portion 704b and its lower end connected to the first lower beam portion 704a. In the second embodiment, the first mounting portion 704 includes two first connecting pillars 704c. The two first connecting pillars 704c are spaced apart in the horizontal direction. In the second embodiment, one of the two first connecting pillars 704c is connected to one horizontal end of the first upper beam portion 704b and one horizontal end of the first lower beam portion 704a, and the other first connecting pillar 704c is connected to the other horizontal end of the first upper beam portion 704b and the other horizontal end of the first lower beam portion 704a. In the second embodiment, the first lower beam portion 704 a, the first upper beam portion 704 b, and the first connecting column 704 c are made of square steel pipes and are connected to each other by welding, thereby forming the first mounting portion 704 into a rectangular frame shape.

[0140] In the second embodiment, the first mounting portion 704 includes a support beam 704d that supports the tool electric motor 706. The support beam 704d extends laterally, and both ends are connected to the first connecting column 704c. The support beam 704d is located between the first upper beam portion 704b and the first lower beam portion 704a, at a position (height) that allows the tool electric motor 706 to be supported at a predetermined position. That is, the support beam 704d is located at a position that allows the tool electric motor 706 to be supported at a predetermined position so that the output shaft 706a of the tool electric motor 706 is located at a position that allows it to be connected to the input shaft that receives power from the working device 110 when connected to the connecting portion 700. The support beam 704d is also made of a square steel pipe and is connected to the first connecting column 704c by welding.

[0141] In the second embodiment, a pair of support brackets 707, 707 are attached to the support beam 704d to support both lateral sides of the device electric motor 706. The pair of support brackets 707, 707 are spaced apart in the lateral direction. That is, the pair of support brackets 707, 707 are spaced apart so that the device electric motor 706 can be placed between them. In the second embodiment, the pair of support brackets 707, 707 hang down from the lower surface of the support column. That is, the pair of support brackets 707, 707 support the device electric motor 706 below the support beam 704d. The pair of support brackets 707, 707 are arranged symmetrically with respect to the lateral center of the support beam 704d. That is, the pair of support brackets 707, 707 support the device electric motor 706 so that the position of the output shaft 706a of the device electric motor 706, which is located between the pair of support brackets 707, 707, corresponds to the lateral center position of the support beam 704d.

[0142] In the second embodiment, a pair of support brackets 707, 707 support the device electric motor 706 via a mounting bracket 710 attached to the device electric motor 706. Specifically, the mounting bracket 710 includes a pair of support shafts (hereinafter referred to as motor support shafts) S5, S5 arranged on both sides of a motor case 706b that houses the rotor of the device electric motor 706, each of which includes a pair of motor support shafts S7, S7 extending laterally. Accordingly, the pair of support brackets 707, 707 axially support the pair of motor support shafts S7, S7 of the mounting bracket 710. As shown in FIG. 24 , the device electric motor 706 is supported on the support beam 704d via the pair of support brackets 707 so as to be rotatable (swingable) about the motor support shafts S7, S7. As a result, the device electric motor 706 rotates (swings) about the motor support shafts S7, S7, thereby changing the orientation (direction of extension of the shaft center) of the output shaft 706a in the vertical direction. That is, the position (angle) of the output shaft 706a of the device electric motor 706 can be changed so as to correspond to the position and orientation of the drive input part of the working device 110 that receives the drive and operates.

[0143] Because the motor case 706b houses a rotor and other components, the center of gravity of the device electric motor 706 is located forward of the motor support shaft S7. As a result, a larger load (downward force) acts on the front side of the motor support shaft S7 than on the rear side, causing the device electric motor 706 to rotate around the motor support shaft S7. In the second embodiment, an elastic member (a tension coil spring in the second embodiment) 711 is provided to support the motor case 706b so that the output shaft 706a of the device electric motor 706 can be adjusted in the up-down direction while maintaining the output shaft 706a in a straight (horizontal or approximately horizontal) position in the normal state. The elastic member 711 is positioned to straddle the first mounting portion 704 and the motor case 706b.

[0144] As shown in Figure 20, in the second embodiment, the second mounting portion 705 includes a second lower beam portion 705a arranged on the front side of the support beam 704d, a second upper beam portion 705b arranged on the front side of the first upper beam portion 704b, and a second connecting pillar 705c connecting the second lower beam portion 705a and the second upper beam portion 705b.

[0145] The second lower beam portion 705a and the second upper beam portion 705b are spaced apart in the vertical direction to match the arrangement of the support beam 704d and the first upper beam portion 704b. The second connecting post 705c extends in the vertical direction, with its upper end connected to the second upper beam portion 705b and its lower end connected to the second lower beam portion 705a. In the second embodiment, the second mounting portion 705 includes two second connecting posts 705c. The two second connecting posts 705c are spaced apart in the horizontal direction.

[0146] In the second embodiment, of the two second connecting columns 705c, one second connecting column 705c is connected to one lateral end of the second upper beam portion 705b and one lateral end of the second lower beam portion 705a, and the other second connecting column 705c is connected to the other lateral end of the second upper beam portion 705b and the other lateral end of the second lower beam portion 705a. The second lower beam portion 705a, the second upper beam portion 705b, and the second connecting column 705c are also made of square steel pipes and are connected to each other by welding. As a result, the second mounting portion 705 is formed into a rectangular frame shape of the same shape and size as the first mounting portion 704 and faces the first mounting portion 704.

[0147] A boss 705d that supports the vertical axis S2 of the first device unit 160 is attached to the second upper beam portion 705b. That is, the boss 705d having a hole into which the vertical axis S2 can be inserted from the front-rear direction is attached to a portion of the second upper beam portion 705b facing forward. The boss 705d is attached to the center of the second upper beam portion 705b in the horizontal direction.

[0148] In the second embodiment, a second support shaft S4 is attached to the second upper beam portion 705b. Specifically, the second support shaft S4 is supported by a protruding bracket 705e attached to the second upper beam portion 705b and extends in the front-to-rear direction. The second support shaft S4 is located on one lateral end of the second upper beam portion 705b. That is, the second mounting portion 705 has a bracket 705e that supports the second support shaft S4 at one lateral end of the second upper beam portion 705b. The bracket 705e protrudes upward from the top surface of the second upper beam portion 705b. As a result, the second support shaft S4 is located outward in the lateral direction from the first support shaft. As described above, the first support shaft S3 is attached to the support column 695 of the first device unit 160, and the second support shaft S4 is attached to the second mounting portion 705 (second upper beam portion 705b) of the second device, so the third actuator 164 is disposed across the first device unit 160 and the second device unit 170. As described above, the second support shaft S4 is located outward in the lateral direction from the first support shaft S3, so that one end of the third actuator 164 is pivotally attached to the first support shaft S3 and the other end of the third actuator 164 is pivotally attached to the second support shaft S4, so that the third actuator 164 (cylinder device) is disposed in an attitude inclined relative to the vertical or lateral direction.

[0149] The second device section 170 includes vertical beams 708 extending in the front-to-rear direction, which connect the first mounting section 704 and the second mounting section 705. In the second embodiment, the second device section 170 includes four vertical beams 708. The four vertical beams 708 connect the four corners of the rectangular frame-shaped first mounting section 704 to the four corners of the rectangular frame-shaped second mounting section 705. The vertical beams 708 are also made of square steel pipes, and are connected to the first mounting section 704 and the second mounting section 705 by welding.

[0150] As described above, each of the first actuator 162, the second actuator 163, and the third actuator 164 is a cylinder device that expands and contracts in one axial direction. In the second embodiment, each of the first actuator 162, the second actuator 163, and the third actuator 164 is an electric cylinder that expands and contracts by receiving power from the driving battery 105. That is, each of the first actuator 162, the second actuator 163, and the third actuator 164 is connected to the driving battery 105 via a power line L, as shown in FIGS. 9 to 11 .

[0151] 11 , one end of the second actuator 163 in one axial direction is connected to the first bracket portion 678. In the second embodiment, one end of the second actuator 163 in one axial direction (a rod end in the second embodiment) is connected to the first bracket portion 678 via a shaft (hereinafter referred to as a second lateral shaft) S5 extending in the lateral direction, and is connected to be rotatable around the second lateral shaft S5.

[0152] The other axial end of the second actuator 163 (cylinder end in the second embodiment) is connected to a bracket 125 protruding from the rear end of the body frame 120 via a shaft (hereinafter referred to as a third horizontal shaft) S6 extending laterally, and is connected to be rotatable about the third horizontal shaft S6. Therefore, the second actuator 163 is disposed across the first device unit 160 and the body frame 120. As a result, when the second actuator 163 expands and contracts, the first device unit 160 and the second device unit 170 rotate in the front-rear direction about the first horizontal shaft S1 connecting the second bracket unit 679 and the tip end of the arm 165, thereby changing their posture.

[0153] Furthermore, as described above, the third actuator 164 is disposed across the first device unit 160 and the second device unit 170, and therefore, when the third actuator 164 extends or contracts, the second device unit 170 rotates to one side (right side) and the other side (left side) in the horizontal direction about the vertical axis S2, as shown in Figures 13 and 14. As a result, the connecting device 106 of the second embodiment can rotate the working device 110 connected to the connecting portion 700 of the second device unit 170 to one side (right side) and the other side (left side) in the horizontal direction about the vertical axis S2, thereby changing its posture in the horizontal direction.

[0154] 9 to 11 , the device electric motor 706 has an output shaft 706a that is directly or indirectly connected to the drive input portion (input shaft) of the working device 110. That is, the output shaft 706a of the device electric motor 706 is directly connected to the drive input portion (input shaft) of the working device 110, or indirectly connected to the drive input portion (input shaft) of the working device 110 via an intermediate member such as a universal joint. The device electric motor 706 is driven by receiving power supply from the vehicle body 102 via a power line L. That is, the device electric motor 706 is connected to the power line L that leads to the drive battery 105, and is driven by power supply from the drive battery 105. Since the electric motor 706 for the device is intended to drive the working device 110 having a dynamic functional unit (to make the functional unit function), if the working device 110 does not have a dynamic functional unit, the circuit breaker opens the circuit of the power line L in response to an instruction from the control device 108, and the power supply (feed) from the driving battery 105 to the electric motor 706 for the device is stopped.

[0155] The base end of the arm 165 is connected (fixed) to the body frame 120. In the second embodiment, the base end of the arm 165 is connected (fixed) to the rear end of the body frame 120 by welding or bolting. The arm 165 extends rearward in the front-to-rear direction from the rear end of the body frame 120. The tip end of the arm 165 connected to the first device unit 160 is located rearward of the traveling device 103 (rear wheel 103b). As a result, the arm 165 supports the first device unit 160 rearward of the rear wheel 103b. The coupling device 106 of the second embodiment has two arms 165, and the two arms 165 are arranged with a gap between them in the lateral direction. Specifically, the two arms 165 are arranged symmetrically with respect to the center line extending in the front-to-rear direction of the body frame 120. That is, the two arms 165 are arranged at positions spaced the same distance laterally from the center line of the body frame 120.

[0156] In the second embodiment, the first device unit 160 is connected to the tip end of the arm 165 via a first horizontal shaft S1 extending laterally, and is rotatable about the first horizontal shaft S1. In the second embodiment, as described above, two arms 165 arranged at a distance from each other in the laterally direction are provided, and therefore the first device unit 160 is connected to the tip end of the two arms 165. In other words, the first device unit 160 is connected to each of the tip end portions of the two arms 165 via the first horizontal shaft S1 extending laterally. The first horizontal shafts S1 connecting the tip end portions of the two arms 165 and the second bracket unit 679 are arranged concentrically.

[0157] As shown in Figure 25, the control device 108 controls the power supply to the drive battery 105. That is, the control device 108 includes a battery control system BMS. In the second embodiment, the control device 108 includes not only the battery control system BMS but also an electronic control unit ECU that controls the drive of the device. Note that in the second embodiment, the battery control system BMS and the electronic control unit ECU are not separated, but are integrated into the control device 108.

[0158] The control device 108 comprises an arithmetic control unit 180, a memory unit 181 that stores information used for processing by the arithmetic control unit 180, an input unit 182 that is electrically connected to the arithmetic control unit 180 and inputs electrical signals as input information from external electrical equipment to the arithmetic control unit 180, and an output unit 183 that is electrically connected to the arithmetic control unit 180 and outputs instruction signals (electrical signals) as output information from the arithmetic control unit 180 to the external electrical equipment.

[0159] The arithmetic and control unit 180 is a CPU (Central Processing Unit) and includes an arithmetic unit 180a and a control unit 180b. In the control device 108 according to the second embodiment, the storage unit includes a first storage unit 181a that temporarily or short-term stores information used in processing by the arithmetic and control unit 180 (the arithmetic unit 180a and the control unit 180b), and a second storage unit 181b that long-term stores information used in processing by the arithmetic and control unit 180 (the arithmetic unit 180a and the control unit 180b). The first storage unit 181a is a so-called memory, and the second storage unit 181b is a storage device such as a hard disk or SSD (Solid State Drive).

[0160] The input unit 182 and the output unit 183 are so-called interfaces. An electrical device that outputs an electrical signal as information is connected to the input unit 182. On the other hand, an electrical device that inputs an electrical signal as information is connected to the output unit 183.

[0161] Specifically, the input unit 182 is connected to the operation device 230 and various sensors SA1 that measure the voltage and current values ​​of the drive battery 105. On the other hand, the output unit 183 is connected to the traveling electric motor 104, the device electric motor 706, the first actuator 162, the second actuator 163, and the third actuator 164 (strictly speaking, the circuit breakers on the power lines connected to these), etc. In the second embodiment, the display device 231 is a touch panel type, and is therefore connected to the input unit 182 and the output unit 183 to send and receive information (signals) to and from the control device 108 (arithmetic and control unit 180).

[0162] In the work vehicle 101 of the second embodiment, the standard posture of the first device unit 160 when the coupling device 106 is in the first state is a state in which the guide body 167 (rail) extends in the up-down direction (vertical direction), and the control device 108 adjusts and maintains the expansion / contraction state of the second actuator 163 so that the first device unit 160 is in the standard posture in a normal state. Note that in the second embodiment, when the second actuator 163 is contracted and the first device unit 160 tilts forward, the second device unit 170 also tilts forward. Therefore, for example, when the first device unit 160 is set to be in the standard posture when the second actuator 163 is fully extended, the control device 108 maintains the second actuator 163 in the fully extended state.

[0163] When the worker operates the operating device 230 (for example, an operating lever) to adjust the height of the connecting part 700 or to adjust (raise or lower) the height of the working device 110 connected to the connecting part 700, the control device 108 receives an input signal from the operating device 230 and, based on that input signal, extends or contracts the first actuator 162. As a result, the second connecting part 676b connected to the other end of the first actuator 162 moves in accordance with the extension or contraction of the first actuator 162.

[0164] The second connecting portion 676b is connected to the guided body 168 via the upper arm 696, the support 695, and the mounting frame 169, and therefore moves in the guiding direction (the direction in which the guide body 167 (rail) extends). Therefore, when the coupling device 106 is in the first state (the first device unit 160 is in the standard position), the second connecting portion 676b also moves up and down together with the guided portion guided by the guide body 167 extending in the vertical direction. The second connecting portion 676b is also connected to the second device unit 170 via the upper arm 696, the support 695, and the first frame, and therefore the second device unit 170 also moves up and down (rising and lowering). In other words, the second device unit 170 moves linearly up and down, and the coupling portion 700 or the working device 110 coupled to the coupling portion 700 also rises and lowers up and down (vertically).

[0165] Furthermore, when the worker operates the operating device 230 (for example, an operating lever) to change the first device unit 160 from the standard position to the tilted position, the control device 108 receives an input signal from the operating device 230 and, based on the input signal, extends or contracts (contracts in the second embodiment) the second actuator 163. As a result, the first device unit 160 rotates about the first horizontal axis S1 (the first horizontal axis S1 that connects the second bracket portion 679 to the tip end of the arm 165 and extends in the horizontal direction) at the lower end of the guide portion, and assumes the tilted position, and the coupling device 106 enters the second state.

[0166] When only the second actuator 163 is extended or contracted, the connecting part 700 or the working device 110 connected to the connecting part 700 follows an arc-shaped trajectory centered on the first horizontal axis S1 (first horizontal axis S1 extending in the horizontal direction connecting the second bracket part 679 to the tip of the arm 165) located on the lower end side of the guide part. In contrast, when the control device 108 operates the operating device 230 to extend or contract the second actuator 163 in accordance with the extension or contraction of the first actuator 162, the connecting part 700 or the working device 110 follows a curved (or parabolic) trajectory centered on the first horizontal axis S1 (first horizontal axis S1 extending in the horizontal direction connecting the second bracket part 679 to the tip of the arm 165) located on the lower end side of the guide part.

[0167] Therefore, it is possible to follow a movement trajectory similar to that of the working device 110 using the conventional connecting device 106 (three-point link), and further, by combining the extension and contraction timing and extension and contraction speed of the first actuator 162 and the second actuator 163, the connecting part 700 and the connected working device 110 can be moved along a movement trajectory according to requirements.

[0168] Furthermore, when the worker operates the operating device 230 to perform horizontal control to maintain the working device 110 in a constant attitude relative to the ground (work surface), the control device 108 extends and retracts the third actuator 164 so that the attitude of the working device 110 remains constant regardless of the lateral tilt (rolling) of the work vehicle 101. In other words, by extending and retracting the third actuator 164, the control device 108 rotates the second device unit 170 around the vertical axis S2 in the direction opposite to the rolling direction of the work vehicle 101 by a rotation angle corresponding to the amount of rolling, thereby maintaining the attitude of the working device 110 constant.

[0169] The present invention is not limited to the second embodiment described above, and can be modified as appropriate without departing from the gist of the present invention.

[0170] <Modifications> For example, in the second embodiment described above, the coupling device 106 includes the arm 165 coupled to the body frame 120, but the present invention is not limited to this. For example, if the rear end of the body frame 120 is located rearward of the traveling device 103 (rear wheel 103b), the coupling device 106 may be directly coupled to the rear end of the body frame 120 because the coupling device 106 does not interfere with the rear wheel 103b.

[0171] In the second embodiment, the coupling device 106 (first device unit 160) is configured to be rotatable (tiltable) about the first horizontal axis S1 extending in the horizontal direction, but is not limited to this. For example, the coupling device 106 (first device unit 160) may be configured to maintain a constant posture relative to the vehicle body 102 and support the second device unit 170 so that it can move linearly in the vertical direction (linear direction that is the vertical direction).

[0172] In the second embodiment described above, each of the first actuator 162, the second actuator 163, and the third actuator 164 is an electric actuator (electric cylinder), but this is not limited to this. For example, if the work vehicle 101 has a hydraulic system including a hydraulic pump driven by an electric motor, each of the first actuator 162, the second actuator 163, and the third actuator 164 may be a hydraulic actuator (for example, a hydraulic cylinder). Furthermore, at least one of the first actuator 162, the second actuator 163, and the third actuator 164 may be a hydraulic actuator (for example, a hydraulic cylinder), and the rest may be electric actuators.

[0173] In the second embodiment, the first actuator 162, the second actuator 163, and the third actuator 164 are each an extendable and retractable cylinder device (electric cylinder), but this is not limiting. For example, the first actuator 162, the second actuator 163, and the third actuator 164 may be a motor. In this case, the rotational output of the motor may be used as is, or various mechanisms may be provided, such as a motion conversion mechanism (e.g., rack and pinion) that converts rotational motion into linear motion or a speed reduction mechanism. Accordingly, it goes without saying that the actuator coupling portion 676 may also be appropriately changed depending on the type of actuator employed.

[0174] Although the guiding device 166 of the second embodiment employs a guide body 167 (rail) with a T-shaped cross section, the present invention is not limited thereto. For example, as shown in Fig. 26, the guide body 167 (rail) may have a U-shaped cross section including a strip-shaped base portion 670 extending in one direction and a pair of protruding pieces 671, 671 extending in a direction perpendicular to the plane of one surface of the base portion 670 at both ends in a width direction perpendicular to the longitudinal direction of the base portion 670. In this case, the guided body 168 may be provided with a first guide roller 681 that contacts the guide body 167 in the lateral direction and a second guide roller 682 that contacts the guide body 167 in the longitudinal direction, thereby achieving the same functions and effects as those of the second embodiment.

[0175] Specifically, when the guide body 167 (rail) has a U-shaped cross section, the guide body 167 is arranged so that a pair of protrusions 671, 671 are aligned in the front-to-rear direction, and the guided body 168 includes at least one first guide roller 681 arranged between the pair of protrusions 671, 671 and abutting the base portion 670 from the lateral direction, and a pair of second guide rollers 682 arranged between the pair of protrusions 671, 671, each pair of second guide rollers 682 abutting from the front-to-rear direction against a corresponding one of the pair of protrusions 671, 671. Even in this case, the guided body 168 preferably includes two or more first guide rollers 681 arranged at intervals in the vertical direction, and two or more pairs of second guide rollers 682 arranged at intervals in the vertical direction.

[0176] In the second embodiment, the guiding device 166 includes a rail-shaped guide body 167 and a guided body 168 having a first guide roller 681 and a second guide roller 682 that roll on the guide body 167. However, the present invention is not limited to this. For example, as shown in FIG. 27 , the guiding device 166 may include a linear shaft 166a in the shape of a straight round bar and a linear bushing 166b into which the linear shaft 166a is inserted and which is movable in the axial direction along the linear shaft 166a. In this case, both ends of the linear shaft 166a are connected to connecting frames 672, 673 arranged at two locations, one above the other, and the linear bushing 166b is connected to the second device unit 170. As a result, the second device unit 170 can be guided in a linear direction (the direction in which the linear shaft 166a extends) perpendicular to the lateral direction, as in the second embodiment. In this case as well, a pair of linear shafts 166a may be provided spaced apart in the horizontal direction, and a linear bushing 166b may be provided for each of the linear shafts 166a, 166a.

[0177] In the second embodiment described above, the second device unit 170 is connected to the first device unit 160 via the vertical shaft S2, and the second device unit 170 is made swingable (rotatable) about the vertical shaft S2, thereby enabling horizontal control to keep the attitude of the working device 110 horizontal, but this is not limiting. For example, if horizontal control to keep the attitude of the working device 110 horizontal is not required, the first device unit 160 and the second device unit 170 may be connected together as an integral unit without being separated, as shown in Figures 28 and 29.

[0178] In the second embodiment, the connecting device 106 (first device unit 160) is rotatable about the first horizontal axis S1 extending in the horizontal direction, but this is not limiting. The connecting device 106 may be non-rotatable, i.e., the guide device 166 (guide body 167) may be maintained in a fixed state (posture). In this case, the extending direction (guiding direction) of the guide body 167 must be vertical. Even in this case, the connecting unit 700 can move linearly in the vertical direction.

[0179] In the second embodiment, the coupling device 106 is attached to the rear end of the vehicle body 102 (body frame 120), but this is not limiting. For example, as shown in Fig. 30, the coupling device 106 may be attached to the front end of the vehicle body 102 (body frame 120). Alternatively, the coupling device 106 may be attached to both the front end and the rear end of the vehicle body 102 (body frame 120). In either case, the structure of the coupling device 106 may be the same as that of the second embodiment.

[0180] 31 , the working device 110 may include a functional unit 190 that performs a function related to a predetermined task, an electric motor 191 that drives the functional unit 190, and a battery 192 that supplies power to the electric motor 191. Specifically, the working device 110 may be a working device 110 (tilling device) that includes a tilling rotor 190 as the functional unit 190, the electric motor 191, a battery 192 that supplies power to the electric motor 191, and a drive transmission device 193 that transmits the rotation of the electric motor 191 to the rotor 190 (functional unit 190).

[0181] In this case, the drive transmission device 193 is preferably configured to be connectable to the device electric motor 706 of the coupling device 106, and the electric motor 191 of the work device 110 is connected to and controlled by the control device 108 of the work device 110. The battery 192 of the work device 110 is also connected to the control device 108, and the remaining amount of stored electricity is managed by the control device 108. In this manner, the rotation of the electric motor 191 can be controlled by operating the operation device 230 of the work vehicle 101, and further, the electric motor 191 can be driven by power supplied from the battery 192 of the work device 110 itself, causing the rotor 190, which is the functional unit 190, to rotate and perform tilling.

[0182] Therefore, work can be performed using conventional operations, and power consumption of the drive battery 105 of the work vehicle 101 is reduced. Furthermore, by having the control device 108 of the work vehicle 101 manage the remaining charge of the battery 192 of the work device 110, the control device 108 of the work vehicle 101 can recognize, for example, that the remaining charge of the battery 192 of the work device 110 is low or has run out.

[0183] Therefore, if the control device 108 determines that the remaining charge of the battery 192 of the working device 110 is low or has run out, it can instruct the drive battery 105 to supply power to the device electric motor 706, thereby driving the device electric motor 706 of the coupling device 106 and continuously operating the functional unit 190. Furthermore, if the control device 108 determines that the remaining charge of the battery 192 of the working device 110 is low or has run out, it can instruct the drive battery 105 of the work vehicle 101 to charge the battery 192 of the working device 110, so that the battery 192 of the working device 110 will be charged and work can be resumed.

[0184] In the second embodiment described above, the traveling device 103 is driven by the traveling electric motor (electric motor) 4, but this is not limiting. For example, the traveling device 103 may be driven by an internal combustion engine. Furthermore, in the second embodiment described above, the coupling device 106 is controlled by the control device 108 of the work vehicle 101, but for example, a control device may be mounted on the working device 110, and the coupling device 106 may be controlled by the control device of this working device 110.

[0185] The present invention provides a work vehicle as described in the following items.

[0186] (Item A1) A work vehicle 1 comprising: a drivable body 2; and a coupling device 6 attached to the body 2, the coupling device 6 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 6 having a prime mover 7 having a drive shaft 7S that outputs power, the drive shaft 7S of the prime mover 7 being directly or indirectly coupled to the driven shaft US of the working device U1 so that power can be transmitted.

[0187] According to the work vehicle 1 relating to item A1, the work device U1 can be driven efficiently by the power of the work motor 7 provided in the coupling device 6, and the driving load on the power source on the vehicle body 2 side is also reduced, thereby improving workability.

[0188] (Item A2) The work vehicle 1 according to Item A1, wherein the prime mover 7 is an electric motor that receives a supply of electric power from the vehicle body 2 and is driven.

[0189] The work vehicle 1 according to item A2 has higher energy conversion efficiency than a gasoline engine or hydraulic motor as the prime mover 7, and can therefore drive the working device U1 more efficiently, thereby further improving workability.

[0190] (Item A3) The work vehicle 1 described in Item A1 or A2, wherein the coupling device 6 has a link mechanism 30 pivotally supported on the vehicle body 2, and a hitch frame 16 coupled to the link mechanism 30 and to which the work device U1 is coupled, and the hitch frame 16 includes a bracket 44 to which the prime mover 7 is attached.

[0191] According to the work vehicle 1 according to item A3, the prime mover 7 can be disposed in the vicinity of the work device U1 connected to the hitch frame 16, so that the power of the prime mover 7 can be output to the work device U1 more efficiently. This further improves workability.

[0192] (Item A4) The work vehicle 1 described in Item A3, wherein the coupling device 6 is attached to the front or rear of the vehicle body 2 in the traveling direction, and the bracket 44 is coupled to the hitch frame 16 so as to be swingable about an axis CL2 extending in the width direction of the vehicle body 2.

[0193] According to the work vehicle 1 according to item A4, the bracket 44 swings about the axis CL2, which distributes the load applied to the connection between the drive shaft 7S of the prime mover 7 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 7 to the working device U1. This further improves workability.

[0194] (Item A5) The work vehicle 1 according to item A4, wherein the coupling device 6 has a suspension device 17 that supports the prime mover 7 by suspending it swingably from the hitch frame 16.

[0195] According to the work vehicle 1 according to item A5, the posture of the prime mover 7 suspended from the hitch frame 16 can be stabilized by the suspension device 17, so that the power of the prime mover 7 can be output to the work device U1 more efficiently. This further improves workability.

[0196] (Item A6) The work vehicle 1 described in Item A5, wherein the suspension device 17 has a first end 17A and a second end 17B opposite to the first end 17A, the first end 17A being connected to an upper portion of the hitch frame 16, and the second end 17B being connected to the prime mover 7 at a position away from the swing center CL2 of the bracket 44 in the direction of the axis CL3 of the drive shaft 7S.

[0197] According to the work vehicle 1 according to item A6, the prime mover 7 can be supported at three different points: the swing center CL2 of the bracket 44, a position away from the swing center CL2 in the direction of the axis CL3 of the drive shaft 7S, and the upper part of the hitch frame 16, so the suspended posture of the prime mover 7 is more stable. This makes it possible to output the power of the prime mover 7 to the work device U1 more efficiently, thereby further improving workability.

[0198] (Item A7) The work vehicle 1 according to item A5 or A6, wherein the suspension device 17 is a spring member that applies a predetermined upward tensile force to the motor 7.

[0199] According to the work vehicle 1 according to item A7, the elastic force of the suspension device 17 absorbs the load applied to the connection between the drive shaft 7S of the prime mover 7 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 7 to the working device U1. This further improves workability.

[0200] (Item A8) The work vehicle 1 according to any one of Items A1 to A7, wherein the drive shaft 7S of the prime mover 7 is engageable with the driven shaft US of the work device U1, and is capable of transmitting power in the engaged state.

[0201] According to the work vehicle 1 according to item A8, the power of the prime mover 7 can be transmitted directly to the driven shaft US of the working device U1, so that the power of the prime mover 7 can be output to the working device U1 more efficiently, thereby further improving workability.

[0202] (Item A9) The work vehicle 1 described in Item A8, wherein either the drive shaft 7S of the prime mover 7 or the driven shaft US of the working device U1 is a hollow shaft, and the other of the drive shaft 7S of the prime mover 7 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.

[0203] According to the work vehicle 1 according to item A9, the power of the prime mover 7 can be transmitted directly to the driven shaft US of the working device U1, so that the power of the prime mover 7 can be output to the working device U1 more efficiently. This further improves workability.

[0204] (Item A10) The work vehicle 1 according to any one of Items A1 to A9, wherein the coupling device 6 has a universal joint 75 that can swingably couple the driven shaft US of the work device U1 to the drive shaft 7S of the prime mover 7.

[0205] In the work vehicle 1 according to item A10, the bending of the universal joint 75 absorbs the load applied to the connection between the drive shaft 7S of the prime mover 7 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 7 to the working device U1. This further improves workability.

[0206] (Item A11) The work vehicle 1 described in any one of Items A3 to A10, wherein the prime mover 7 has a housing 70 that holds the drive shaft 7S, the bracket 44 has a protective member 45 formed from a metal material that has a greater ionization tendency than a base material of the bracket 44, and the protective member 45 is provided in contact with both the housing 70 and the bracket 44.

[0207] Rainwater and water splashed from the road surface during work are likely to accumulate at the joint between the housing 70 and the bracket 44. If water remains at the joint for a long period of time, the housing 70 and the bracket 44 may emit electrons and become positively ionized, accelerating the progression of corrosion.

[0208] However, with the work vehicle 1 according to item A11, even if water adheres and accumulates at the joint, the protective member 45 emits electrons and becomes positively ionized, causing sacrificial corrosion, before the housing 70 or the bracket 44. This makes it possible to delay the occurrence of corrosion at the joint, thereby ensuring stable performance over a long period of time.

[0209] (Item A12) The work vehicle 1 according to Item A11, wherein the protection member 45 is detachably connected to the housing 70 or the bracket 44.

[0210] According to the work vehicle 1 relating to item A12, even if sacrificial corrosion of the protective member 45 progresses as described above, it is possible to replace it with a new protective member 45 as appropriate, making it possible to achieve more stable performance over a long period of time.

[0211] (Item A13) The work vehicle 1 according to item A11 or A12, wherein the housing 70 is closely coupled to the bracket 44, and the protective member 45 is disposed below the housing 70.

[0212] Water flowing down from the surrounding area tends to collect and accumulate below the area where the housing 70 and bracket 44 are tightly connected. This makes corrosion more likely to occur. However, with the work vehicle 1 according to item A13, the protective member 45 is provided below the area where the housing 70 and bracket 44 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.

[0213] (Item B1) A work vehicle 1 including a drivable vehicle body 2, a coupling device 6 to which a work device U1 is coupled, and a movement mechanism 80 attached to the vehicle body 2 that couples and supports the coupling device 6 so that it can move in the width direction of the vehicle body 2.

[0214] According to the work vehicle 1 relating to this item B1, the coupling device 6 can be moved in the left-right direction (width direction) of the vehicle body 2 to match the target work position, thereby improving workability. Furthermore, according to the work vehicle 1 relating to this item B1, even if the positional relationship between the vehicle body 2 and the work device U1 is slightly misaligned in the width direction when coupling the vehicle body 2 and the work device U1, the coupling device 6 can be moved in the width direction to match that misalignment, further improving workability.

[0215] (Item B2) The work vehicle 1 described in Item B1, wherein the movement mechanism 80 includes a rail 82 extending in the width direction, a slider 83 connected to the rail 82 so as to be movable in the width direction, and a slider drive device 84 that moves the slider 83 along the rail 82, and the coupling device 6 is provided on the slider 83.

[0216] According to the work vehicle 1 relating to item B2, the coupling device 6 can be moved more smoothly in the width direction, further improving workability.

[0217] (Item B3) The work vehicle 1 according to Item B2, wherein the rail 82 extends in the width direction perpendicular to a vehicle body center line CL3 that passes through the center in the width direction and extends in a traveling direction of the vehicle body 2.

[0218] According to the work vehicle 1 according to item B3, the coupling device 6 can be moved accurately in the width direction of the vehicle body 2, further improving workability.

[0219] (Item B4) The work vehicle 1 described in Item B2 or B3, which is provided with traveling devices 3 that support the vehicle body 2 so that it can travel, the traveling devices 3 including a front traveling device 3F that is arranged at the front of the vehicle body 2 in the traveling direction, and a rear traveling device 3R that is arranged at the rear of the vehicle body 2 in the traveling direction, and the rails 82 are arranged rearward of the rear traveling device 3R.

[0220] According to the work vehicle 1 according to item B4, when the coupling device 6 is moved in the width direction of the vehicle body 2, the coupling device 6 is less likely to come into contact with the rear traveling device 3R of the vehicle body 2, further improving workability.

[0221] (Item B5) The work vehicle 1 according to any one of Items B2 to B4, wherein the coupling device 6 has a prime mover 7 that drives the work device U1.

[0222] According to the work vehicle 1 relating to item B5, the work device U1 can be driven efficiently by the power of the prime mover 7 provided in the coupling device 6, and the driving load on the power source on the vehicle body 2 side is also reduced, thereby further improving workability.

[0223] (Item B6) The work vehicle 1 according to item B5, wherein the prime mover 7 is an electric motor that receives a supply of electric power from the vehicle body 2 and is driven.

[0224] The work vehicle 1 according to item B6 has higher energy conversion efficiency than a gasoline engine or hydraulic motor as the prime mover 7, and can therefore drive the working device U1 more efficiently, thereby further improving workability.

[0225] (Item B7) The work vehicle 1 according to Item B5 or B6, wherein the coupling device 6 includes a link mechanism 30 pivotally supported on a rear portion of the slider 83, and a hitch frame 16 coupled to the link mechanism 30 and coupling the work device U1, and the prime mover 7 is provided on the hitch frame 16.

[0226] According to the work vehicle 1 according to item B7, the prime mover 7 can be disposed in the vicinity of the working device U1 connected to the hitch frame 16, so that the power of the prime mover 7 can be output to the working device U1 more efficiently. This further improves workability.

[0227] (Item B8) The work vehicle 1 according to any one of items B5 to B7, wherein the prime mover 7 is disposed on a rearward extension line CL4 of the widthwise center of the slider 83.

[0228] According to the work vehicle 1 relating to item B8, the relatively heavy prime mover 7 is positioned on the rear extension line of the widthwise center of the slider 83, which allows the slider 83 to be moved stably in the widthwise direction, thereby further improving workability.

[0229] (Item C1) A work vehicle 101 comprising a drivable vehicle body 102 and a coupling device 106 attached to the vehicle body 102, wherein the coupling device 106 has a first device section 160 supported directly or indirectly on the vehicle body 102, and a second device section 170 including a coupling section 700 to which a work device 110 for performing a predetermined task can be coupled, wherein the first device section 160 supports the second device section 170 so as to be linearly movable at least in the up-down direction among linear directions perpendicular to the up-down direction and the lateral direction perpendicular to the fore-aft direction.

[0230] According to the work vehicle 101 of item C1, the first device unit 160 supports the second device unit 170 so that it can move linearly at least in the vertical direction, so the connecting unit 700 to which the work device 110 is connected also moves linearly in the vertical direction. Therefore, the work vehicle 101 of item C1 can raise and lower the work device 110 in a straight line at least in the vertical direction.

[0231] (Item C2) The work vehicle 101 according to Item C1, wherein the first device unit 160 includes a guide device 166 capable of guiding the second device unit 170 in the up and down direction.

[0232] According to the work vehicle 101 of item C2, the guide device 166 of the first device unit 160 guides the second device unit 170 in the vertical direction, so that the second device unit 170 can be reliably moved linearly in the vertical direction.

[0233] (Item C3) The work vehicle 101 described in Item C2, wherein the guiding device 166 includes a guiding body 167 extending in the linear direction and a guided body 168 guided by the guiding body 167, the guided body 168 being directly or indirectly connected to the second device unit 170, and the connecting device 106 maintains the guiding body 167 in a position extending in the vertical direction at least when the connecting unit 700 is raised and lowered in the vertical direction.

[0234] According to the work vehicle 101 of item C3, the guiding device 166 includes a guiding body 167 that extends in a linear direction and a guided body 168 that is guided by the guiding body 167, and therefore the second device unit 170 to which the guided body 168 is connected also moves straight in the direction in which the guiding body 167 extends. Therefore, by positioning the guiding body 167 so that it extends in the vertical direction, the second device unit 170 moves linearly in the vertical direction.

[0235] (Item C4) The work vehicle 101 according to any one of Items C1 to C3, wherein the coupling device 106 has a first actuator 162 that linearly moves the second device section 170.

[0236] According to the work vehicle 101 of item C4, the first actuator 162 moves the second device unit 170 in a linear manner, and therefore, by controlling the first actuator 162, the amount of movement and the movement speed of the second device unit 170 can also be controlled (adjusted).

[0237] (Item C5) The work vehicle 101 according to any one of Items C1 to C4, wherein the first device section 160 is rotatable about an axis (first horizontal axis) S1 extending in the horizontal direction.

[0238] According to the work vehicle 101 of item C5, the first device unit 160 can rotate about a first horizontal axis S1 extending laterally, so the first device unit 160 can be tilted, and the extension direction of the guide body 167 can be made to be inclined relative to the front-to-rear direction as well as the up-and-down direction. This makes it possible to move the working device 110 connected to the coupling unit 700 on an arc-shaped trajectory centered on the first horizontal axis S1. Furthermore, by combining the tilting of the first device unit 160 with the linear movement of the second device unit 170, the trajectory of the working device 110 connected to the coupling unit 700 can be made to follow a trajectory other than a perfect arc (for example, a curved trajectory or a parabolic trajectory).

[0239] (Item C6) The work vehicle 101 according to Item C5, wherein the coupling device 106 has a second actuator 163 that rotates the first device section 160 about the axis (first horizontal axis) S1.

[0240] According to the work vehicle 101 of item C6, the second actuator 163 rotates the first device unit 160 around the first horizontal axis S1, and therefore, by controlling the second actuator 163, the amount of rotation and rotation speed of the second device unit 170 can also be controlled (adjusted).

[0241] (Item C7) The work vehicle 101 according to Item C6, wherein the second actuator 163 is an extendable cylinder device and is disposed across the first device section 160 and the vehicle body 102.

[0242] According to the work vehicle 101 of item C7, the second actuator 163 is a cylinder device that is arranged across the first device unit 160 and the vehicle body 102, so the posture of the first device unit 160 can be changed without complicating the structure.

[0243] (Item C8) The work vehicle 101 described in any one of Items C5 to C7, wherein the coupling device 106 is an arm 165 having a base end coupled to the vehicle body 102 and a tip end opposite the base end, the arm 165 extending outward from the vehicle body 102 in a direction perpendicular to the up-down direction, and the first device section 160 is coupled to the tip end of the arm 165 via the axis (first horizontal axis) S1.

[0244] According to the work vehicle 101 of item C8, the first device unit 160 is connected to the tip of the arm 165 extending outward from the vehicle body 102, which reduces interference of the first device unit 160 with the vehicle body 102. In addition, because the first device unit 160 is connected to the tip of the arm 165 via the first horizontal shaft S1, it is also possible to change the posture of the first device unit 160.

[0245] (Item C9) The work vehicle 101 according to Item C8, wherein a lower end of the first device section 160 is connected to a tip end of the arm 165 via the shaft (first horizontal shaft) S1.

[0246] According to the work vehicle 101 of item C9, the lower end of the first device unit 160 is connected to the tip of the arm 165 via the first horizontal axis S1, so when the first device unit 160 rotates around its axis, the first operating unit does not move below the first horizontal axis S1, and the first device unit 160 does not interfere with the ground as it rotates (moves).

[0247] (Item C10) The work vehicle 101 according to any one of Items C1 to C9, wherein the second device section 170 is an electric motor that drives the work device 110 connected to the connecting section 700 and includes an electric motor (device electric motor) 706 that is driven by receiving electric power supply from the vehicle body 102.

[0248] According to the work vehicle 101 of item C10, the second device section 170 includes an electric motor (device electric motor) 706 that drives the work device 110, so there is no need to extract power from the traveling electric motor 104 to the work device 110. This prevents a decrease in the driving performance of the work vehicle 101.

[0249] (Item C11) The work vehicle 101 according to Item C10, wherein the electric motor (device electric motor) 706 is swingable about a support shaft (motor support shaft) S5 extending in the lateral direction as a center of rotation.

[0250] According to the work vehicle 101 of item C11, the electric motor (electric motor for equipment) 706 can swing around the motor support shaft S7 extending laterally, so that the posture of the electric motor (electric motor for equipment) 706 can be adjusted to a posture that corresponds to the shape of the work equipment 110 connected to the connecting part 700.

[0251] (Item C12) The work vehicle 101 described in any one of Items C1 to C11, wherein the first device unit 160 has a connection part 611 to which the second device unit 170 is connected, the connection part 611 including a vertical axis S2 extending in the front-to-rear direction, and the second device unit 170 is connected to the connection part 611 via the vertical axis S2 and is rotatable around the vertical axis S2.

[0252] According to the work vehicle 101 of item C12, the second device part 170 can be rotated around the vertical axis S2 extending in the fore-and-aft direction, and therefore the work device 110 connected to the connecting part 700 can also be rotated around the vertical axis S2, thereby adjusting the lateral posture of the work device 110.

[0253] (Item C13) The work vehicle 101 according to Item C12, wherein the coupling device 106 includes a third actuator 164 that rotates the second device section 170 around the vertical axis S2.

[0254] According to the work vehicle 101 of item C13, the third actuator 164 rotates the second device unit 170 around the vertical axis S2, and by adjusting the third actuator 164, the amount of rotation and rotation speed of the third actuator 164 around the vertical axis S2 can be controlled (adjusted).

[0255] (Item C14) The work vehicle 101 according to Item C13, wherein the third actuator 164 is an extendable cylinder device and is disposed across the first device section 160 and the second device section 170.

[0256] According to the work vehicle 101 of item C14, the third actuator 164 is a cylinder device, so that the third actuator 164 can be rotated around the vertical axis S2 without a complex configuration.

[0257] (Item C15) The work vehicle 101 according to any one of Items C1 to C14, wherein the coupling device 106 is attached to at least one of the front end and the rear end of the vehicle body 102.

[0258] According to the work vehicle 101 of item C15, the coupling device 106 is attached to at least one of the front end and rear end of the vehicle body 102, so the work device 110 can be positioned either in front or rear of the vehicle body 102.

[0259] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0260] REFERENCE SIGNS LIST 1 Work vehicle 2 Vehicle body 2A Bonnet 2B Cabin 3 Traveling device 3F Front wheels (front traveling device) 3R Rear wheels (rear traveling device) 4 Driver's seat 5 Prime mover 6 Coupling device 7 Secondary prime mover (prime mover) 7S Drive shaft 11 Lift arm 12 Lower link 13 Top link 14 Lift rod 15 Lift cylinder 16 Hitch frame 17 Suspension device 17A First end 17B Second end 30 Link mechanism 44 Bracket 45 Protective member 70 Housing 75 Universal joint 80 Movement mechanism 81 Base portion 82 Rail 83 Slider 84 Slider drive device 85 Power transmission shaft 86 Drive motor CL2 Swing center CL3 Axis of drive shaft U1 Work device US Driven shaft REFERENCE SIGNS LIST 101 Work vehicle 102 Vehicle body 106 Coupling device 110 Work device 160 First device section 162 First actuator (actuator) 163 Second actuator (actuator) 164 Third actuator (actuator) 165 Arm 166 Guide device 167 Guide body 168 Guided body 170 Second device section 190 Electric motor 611 Connection section 700 Coupling section 706 Device electric motor (electric motor) S2 Vertical axis

Claims

1. A work vehicle comprising: a drivable vehicle body; a coupling device to which a work implement is connected; and a movement mechanism attached to the vehicle body that connects and supports the coupling device so that it can move in the width direction of the vehicle body.

2. A work vehicle as described in claim 1, wherein the moving mechanism comprises: a rail extending in the width direction; a slider connected to the rail so as to be movable in the width direction; and a slider drive device for moving the slider along the rail, and the coupling device is provided on the slider.

3. A work vehicle according to claim 2, wherein the rails extend in the width direction perpendicular to a vehicle body center line that passes through the center in the width direction and extends in the traveling direction of the vehicle body.

4. A work vehicle as described in claim 2, comprising a traveling device that supports the vehicle body so that it can run, the traveling device including a front traveling device arranged at the front of the vehicle body in the running direction, and a rear traveling device arranged at the rear of the vehicle body in the running direction, the rails being arranged rearward of the rear traveling device.

5. A work vehicle according to any one of claims 2 to 4, wherein the coupling device has a prime mover that drives the work device.

6. A work vehicle according to claim 5, wherein the prime mover is an electric motor that is driven by power supplied from the vehicle body.

7. A work vehicle as described in claim 5, wherein the coupling device comprises: a link mechanism pivotally supported on the rear portion of the slider; and a hitch frame coupled to the link mechanism and coupling the working device; and the prime mover is provided on the hitch frame.

8. A work vehicle according to claim 5, wherein the prime mover is disposed on a rear extension line of the widthwise center of the slider.

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