Work vehicle

Abstract

This work vehicle comprises: a vehicle body having a motive power source; a first wheel module having a plurality of first wheels driven by motive power from the motive power source, the first wheel module being disposed on one lateral-direction side of the vehicle body, and rotatably supporting each of the plurality of first wheels; a second wheel module having a plurality of second wheels driven by motive power from the motive power source, the second wheel module being disposed on the other lateral-direction side of the vehicle body, and rotatably supporting each of the plurality of second wheels; a first connection member that connects the vehicle body and the first wheel module; and a second connection member that connects the vehicle body and the second wheel module. The first wheel module includes a plurality of first devices that receive motive power from the motive power source and transmit the motive power to the plurality of first wheels. The second wheel module includes a plurality of second devices that receive motive power from the motive power source and transmit the motive power to the plurality of second wheels.

Description

Work vehicle

[0001] This application claims priority to Japanese Patent Application No. 2024-103474, filed on June 27, 2024, and incorporates by reference all of the contents of said Japanese application.

[0002] Patent Document 1 discloses a work vehicle suitable for traveling on rough terrain. This work vehicle includes a vehicle body, a plurality of traveling wheels, a plurality of hydraulic motors that individually drive each traveling wheel, and a hydraulic supply source that supplies hydraulic oil to each hydraulic motor. The plurality of wheels are arranged at the front and rear on both the left and right sides of the vehicle body. The hydraulic supply source is fixed to the middle of the vehicle body in the left-right direction.

[0003] Japanese Patent Application Laid-Open No. 2023-092156

[0004] In the above-mentioned work vehicle, the lateral distance between the hydraulic power supply source and the travel wheels located on both the left and right sides of the vehicle body is fixed and cannot be changed. Therefore, for example, when the work vehicle is driven across crops or ridges in a farm field, there is a risk that the hydraulic power supply source will come into contact with the crops and be damaged. The present disclosure aims to provide a work vehicle that can prevent damage to the power source located between the left and right wheels.

[0005] The work vehicle of the present disclosure comprises a vehicle body having a power source, a first wheel module having a plurality of first wheels driven by power from the power source and arranged on one side of the vehicle body in the left-right direction to rotatably support each of the plurality of first wheels, a second wheel module having a plurality of second wheels driven by power from the power source and arranged on the other side of the vehicle body in the left-right direction to rotatably support each of the plurality of second wheels, a first connecting member connecting the vehicle body and the first wheel module, and a second connecting member connecting the vehicle body and the second wheel module, wherein the first wheel module includes a plurality of first devices that receive power from the power source and transmit the power to the plurality of first wheels, and the second wheel module includes a plurality of second devices that receive power from the power source and transmit the power to the plurality of second wheels.

[0006] According to the present disclosure, damage to the power source disposed between the wheels on both the left and right sides of the work vehicle can be prevented.

[0007] FIG. 1 is a side view showing a work vehicle according to an embodiment of the present disclosure. FIG. 2 is a plan view of the work vehicle. FIG. 3 is a perspective view of the work vehicle. FIG. 4 is a perspective view of the vehicle body. FIG. 5 is a perspective view of the main module. FIG. 6 is a perspective view of the power module. FIG. 7 is a perspective view of the first wheel module. FIG. 8 is an explanatory diagram of a first support mechanism. FIG. 9 is a control block diagram of the work vehicle. FIG. 10 is a perspective view of the first connecting member. FIG. 11 is a schematic rear view showing a state in which the first connecting member has been removed and the first wheel module has been attached to the main module. FIG. 12 is a schematic rear view showing a state in which the first connecting member and the second connecting member have been removed and the first wheel module and the second wheel module have been attached to the main module. FIG. 13 is a schematic rear view showing a case in which the power module is attached to the upper side of the main module. FIG. 14 is a schematic rear view showing a case in which the power module is attached to either the upper or lower side of the first connecting member or the upper or lower side of the second connecting member.

[0008] <Outline of Embodiments of the Present Disclosure> The following is a description of outlines of embodiments of the present disclosure. (1) A work vehicle according to an embodiment includes a vehicle body having a power source, a first wheel module having a plurality of first wheels driven by power from the power source and disposed on one side of the vehicle body in the left-right direction to rotatably support each of the plurality of first wheels, a second wheel module having a plurality of second wheels driven by power from the power source and disposed on the other side of the vehicle body in the left-right direction to rotatably support each of the plurality of second wheels, a first coupling member that couples the vehicle body to the first wheel module, and a second coupling member that couples the vehicle body to the second wheel module, wherein the first wheel module includes a plurality of first devices that receive power from the power source and transmit the power to the plurality of first wheels, and the second wheel module includes a plurality of second devices that receive power from the power source and transmit the power to the plurality of second wheels.

[0009] According to the above-described work vehicle, by connecting the vehicle body and the first wheel module (second wheel module) with the first connecting member (second connecting member), it is possible to change the left-right distance between the vehicle body and the first wheel (second wheel). This makes it possible to prevent the power source of the vehicle body from coming into contact with and being damaged by crops, for example, when the work vehicle is driven across crops in the left-right direction.

[0010] (2) In the work vehicle described in (1), it is preferable that the first connecting member is detachable from the vehicle body and the first wheel module, and the second connecting member is detachable from the vehicle body and the second wheel module. In this case, by attaching and detaching the first connecting member (second connecting member) to both the vehicle body and the first wheel module (second wheel module), the left-right distance between the vehicle body and the first wheel (second wheel) can be easily adjusted.

[0011] (3) In the work vehicle described in (1) or (2), it is preferable that the first connecting member can support a first transmission path that transmits the power from the power source to the first device, and the second connecting member can support a second transmission path that transmits the power from the power source to the second device. In this case, when the vehicle body and the first wheel module (second wheel module) are connected by the first connecting member (second connecting member), the first transmission path (second transmission path) that transmits power from the power source to the first device (second device) can be supported on the first connecting member (second connecting member). This makes it easy to transmit power from the power source to the first device (second device) via the first connecting member (second connecting member).

[0012] (4) In the work vehicle described in any one of (1) to (3), it is preferable that the first device has a plurality of first control valves, and the second device has a plurality of second control valves.

[0013] In this case, the number of harnesses, pipes, etc. connecting the vehicle body and the first device (second device) is reduced compared to when the first control valve (second control valve) is provided in the vehicle body, which makes it easier to connect the first connecting member (second connecting member) between the vehicle body and the first wheel module (second wheel module).

[0014] (5) In the work vehicle described in any one of (1) to (4), the vehicle body preferably includes a main module to which the first connecting member and the second connecting member are respectively attached, and a power module having the power source and detachably attached to the main module. In this case, the vehicle body can be separated into the main module and the power module, making it easy to assemble and disassemble the vehicle body.

[0015] (6) In the work vehicle described in (5) above, it is preferable that the power module can be selectively attached to either the upper side or the lower side of the main module. In this case, the attachment position of the power module relative to the main module can be changed, which further prevents the power source from coming into contact with crops or the like and being damaged.

[0016] (7) In the work vehicle described in (5) or (6) above, it is preferable that the power module be attachable to at least one of the upper and lower sides of the first connecting member and the upper and lower sides of the second connecting member. In this case, the degree of freedom in the attachment position of the power module is increased, which further prevents the power source from coming into contact with crops or the like and being damaged.

[0017] (8) In the work vehicle described in (4), it is preferable that the vehicle body has a hydraulic oil tank in which hydraulic oil is stored and a hydraulic pump that is the power source that discharges the hydraulic oil from the hydraulic oil tank as the power, the first device has a first collecting section that collects hydraulic oil supplied to and discharged from each of the multiple first control valves, the second device has a second collecting section that collects hydraulic oil supplied to and discharged from each of the multiple second control valves, the first collecting section has a single first P port that supplies hydraulic oil from the hydraulic pump to each of the multiple first control valves and a single first T port that discharges hydraulic oil from each of the multiple first control valves to the hydraulic oil tank, and the second collecting section has a single second P port that supplies hydraulic oil from the hydraulic pump to each of the multiple second control valves and a single second T port that discharges hydraulic oil from each of the multiple second control valves to the hydraulic oil tank.

[0018] In this case, hydraulic piping on the vehicle body side can be connected to the single first P port (second P port) and the single first T port (second T port) in the first collection section (second collection section) of the first device (second device). By connecting the hydraulic piping in this manner, hydraulic oil can be supplied to and discharged from each of the multiple first control valves (second control valves) collected in the first collection section (second collection section). This makes it possible to easily connect the hydraulic piping on the vehicle body side to the multiple first control valves (second control valves) of the first wheel module (second wheel module) when connecting the vehicle body and the first wheel module (second wheel module) with the first connecting member (second connecting member).

[0019] (9) In the work vehicle described in any of (1) to (8), it is preferable that the first wheel module has a first coupler to which the first harness on the vehicle body side is connected, and the second wheel module has a second coupler to which the second harness on the vehicle body side is connected.

[0020] In this case, when the vehicle body and the first wheel module (second wheel module) are connected by the first connecting member (second connecting member), the first harness (second harness) on the vehicle body side can be connected to the first coupler (second coupler) of the first wheel module (second wheel module), which makes it easy to wire the harness between the vehicle body and the first wheel module (second wheel module).

[0021] (10) In the work vehicle described in any of (1) to (9), it is preferable that the first connecting member is arranged between the vehicle body and the first wheel module to connect them, and the second connecting member is arranged between the vehicle body and the second wheel module to connect them.

[0022] <Details of the embodiment> Preferred embodiments will now be described with reference to the drawings. [Overall configuration of the work vehicle] Fig. 1 is a side view showing a work vehicle 1 according to an embodiment of the present disclosure. Fig. 2 is a plan view of the work vehicle 1. The work vehicle 1 shown in Figs. 1 and 2 is a vehicle capable of traveling on uneven road surfaces (uneven terrain).

[0023] In the following explanation, the direction of the arrow FW shown in the figure is the "front" of the work vehicle 1, which is the straight-ahead direction of the work vehicle 1. The direction of the arrow BK is the "rear" of the work vehicle 1, which is opposite to the straight-ahead direction. The direction of the arrow RH is the "right" of the work vehicle 1 going straight, and the direction of the arrow LH is the "left" of the work vehicle 1 going straight. The direction of the arrow DW is the "down" of the work vehicle 1, which is the road surface side, and the direction of the arrow UP is the "up" of the work vehicle 1, which is the opposite side to the road surface.

[0024] The work vehicle 1 comprises a vehicle body 2 having a loading section 3 on top of which cargo can be loaded. The loading section 3 has a flat loading surface 3a on its upper surface. The loading surface 3a has a generally rectangular shape in a plan view (see FIG. 2). The loading surface 3a extends in the left-right and front-rear directions. In this embodiment, the loading surface 3a extends in the left-right direction from a first wheel module 4 on the left side to a second wheel module 5 on the right side, which will be described later. The cargo to be loaded includes, for example, agricultural equipment, agricultural materials such as fertilizer and chemicals, harvested crops or harvest baskets, or pallets on which these are placed.

[0025] Figure 3 is a perspective view of the work vehicle 1. The loading section 3 is not shown in Figure 3. The work vehicle 1 comprises the vehicle body 2, a first wheel module 4, a second wheel module 5, a first connecting member 6, and a second connecting member 7. The vehicle body 2 is located in the center of the work vehicle 1 in the left-right direction.

[0026] The first wheel module 4 is arranged on the left side (one side) of the vehicle body 2 in the left-right direction. The second wheel module 5 is arranged on the right side (the other side) of the vehicle body 2 in the left-right direction. The first connecting member 6 is arranged between the vehicle body 2 and the first wheel module 4, and connects the vehicle body 2 and the first wheel module 4. The first connecting member 6 of this embodiment is detachable from the vehicle body 2 and the first wheel module 4. The second connecting member 7 is arranged between the vehicle body 2 and the second wheel module 5, and connects the vehicle body 2 and the second wheel module 5. The second connecting member 7 of this embodiment is detachable from the vehicle body 2 and the second wheel module 5.

[0027] [Vehicle Body] Fig. 4 is a perspective view of the vehicle body 2. As shown in Figs. 3 and 4, the vehicle body 2 further includes a main module 10 and a power module 20. A first connecting member 6 and a second connecting member 7 are attached to the left and right sides of the main module 10, respectively. The power module 20 is attached to the underside of the main module 10. The power module 20 of this embodiment is detachably attached to the main module 10. Note that the power module 20 may be fixed to the main module 10.

[0028] 5 is a perspective view of the main module 10. The main module 10 includes a main frame 11, a fuel tank 12, an operating handle 13, a valve case 14, and a control device 15. The fuel tank 12, the operating handle 13, the valve case 14, and the control device 15 are attached to the main frame 11.

[0029] The main module 10 only needs to include at least the main frame 11. The fuel tank 12, the valve case 14, and the control device 15 may be included in the power module 20. The operating handle 13 may be included in a handle module separate from the main module 10. In this case, the vehicle body 2 includes the main module 10, the power module 20, and the handle module.

[0030] The main frame 11 has a pair of frame sections 111 arranged one above the other and a plurality of pillar sections 112. Each frame section 111 is formed into a rectangular frame shape using a plurality of frame members. The loading section 3 (FIG. 1) is detachably attached to the top surface of the upper frame section 111 using bolts (not shown) or the like. Each frame section 111 has a plurality of longitudinal members 111a and a plurality of transverse members 111b. In this embodiment, each frame section 111 has two longitudinal members 111a and three transverse members 111b.

[0031] The two longitudinal members 111a are frame members that are long in the front-to-rear direction and spaced apart in the left-to-right direction. The three transverse members 111b are frame members that are spaced apart in the front-to-rear direction between the two longitudinal members 111a. Each transverse member 111b is located between the front portions, middle portions, and rear portions of the longitudinal members 111a on both the left and right sides, and is fixed to these longitudinal members 111a.

[0032] The plurality of pillars 112 are arranged at four locations, front, back, left and right, between the pair of frame parts 111, and connect the pair of frame parts 111. The upper end of each pillar part 112 abuts and is fixed to the longitudinal member 111a of the upper frame part 111. The lower end of each pillar part 112 abuts and is fixed to the longitudinal member 111a of the lower frame part 111.

[0033] The fuel tank 12 is attached to the lower frame portion 111 at the front of the main frame 11. The fuel tank 12 stores fuel for the engine 22, which will be described later. The operating handle 13 is attached to the upper frame portion 111 at the rear of the main frame 11. The operating handle 13 is gripped by the operator when driving the work vehicle 1.

[0034] The valve case 14 is attached to the lower frame section 111 behind the fuel tank 12. The valve case 14 houses a relief valve (not shown) and other components. The valve case 14 is connected to a hydraulic pump 24 via hydraulic piping 16 (see FIG. 4). The valve case 14 is connected to a hydraulic oil tank 23 via hydraulic piping 17 (see FIG. 4). The control device 15 has a main ECU (Electronic Control Unit) 151 (see FIG. 9) that functions as a control section that controls the operation of the work vehicle 1.

[0035] Figure 6 is a perspective view of the power module 20. As shown in Figures 4 and 6, the power module 20 includes a mounting frame 21. The mounting frame 21 has a front frame portion 211, a rear frame portion 212, a pair of upper and lower right frame portions 213, a pair of upper and lower left frame portions 214, and a pair of left and right mounting frame portions 215.

[0036] The front frame portion 211 and the rear frame portion 212 are disposed at a distance from each other in the front-to-rear direction. The front frame portion 211 and the rear frame portion 212 are each formed in a substantially U-shape when viewed in the front-to-rear direction. The front frame portion 211 has a pair of left and right support columns 211a extending in the up-down direction. Similarly, the rear frame portion 212 has a pair of left and right support columns 212a extending in the up-down direction. The upper ends of the support columns 211a, 212a of the front frame portion 211 and the rear frame portion 212 are detachably attached to the lower frame portion 111 of the main frame 11 by bolts (not shown) or the like.

[0037] The right support pillar 211a of the front frame portion 211 and the right support pillar 212a of the rear frame portion 212 are connected by a pair of right frame portions 213. The pair of right frame portions 213 extend in the front-to-rear direction with a vertical gap between them. The left support pillar 211a of the front frame portion 211 and the left support pillar 212a of the rear frame portion 212 are connected by a pair of left frame portions 214. The pair of left frame portions 214 extend in the front-to-rear direction with a vertical gap between them.

[0038] The front frame 211 has a bottom 211b that extends in the left-right direction and connects the lower ends of the pair of support columns 211a. Similarly, the rear frame 212 has a bottom 212b that extends in the left-right direction and connects the lower ends of the pair of support columns 212a. The bottoms 211b, 212b of the front frame 211 and the rear frame 212 are connected to each other by a pair of mounting frames 215. The pair of mounting frames 215 extend in the front-rear direction with a lateral gap between them.

[0039] The power module 20 further includes an engine 22, a hydraulic oil tank 23, a hydraulic pump 24, and a battery 25. The engine 22 is mounted on the front side of a pair of mounting frame portions 215 of the mounting frame 21. The hydraulic oil tank 23 is mounted on the rear side of the pair of mounting frame portions 215. The hydraulic oil tank 23 stores hydraulic oil.

[0040] The hydraulic pump 24 is attached to the right mounting frame portion 215 and the lower right frame portion 213, adjacent to the right side of the engine 22. The hydraulic pump 24 is driven by the engine 22. The hydraulic pump 24 is a power source that discharges hydraulic oil from the hydraulic oil tank 23 as power. The hydraulic oil discharged from the hydraulic pump 24 is supplied to a first traveling hydraulic motor 41, a first hip hydraulic cylinder 43, a first knee hydraulic cylinder 44, and a first swing hydraulic cylinder 45, which will be described later. The battery 25 is mounted on the pair of mounting frame portions 215, behind the hydraulic oil tank 23. The battery 25 supplies power to control valves and sensors, which will be described later, of each of the first wheel module 4 and the second wheel module 5.

[0041] The mounting frame 21 further has a front guard portion 216 that guards the engine 22 and a rear guard portion 217 that guards the battery 25. The front guard portion 216 is formed in a generally U-shape in a plan view and is disposed in front of the engine 22. Both left and right ends of the front guard portion 216 are connected to the respective support portions 211a of the front frame portion 211. The rear guard portion 217 is formed in a generally U-shape in a plan view and is disposed rearward of the battery 25. Both left and right ends of the rear guard portion 217 are connected to the respective support portions 212a of the rear frame portion 212.

[0042] 3, the first wheel module 4 and the second wheel module 5 have the same configuration and are arranged symmetrically on either side of the vehicle body 2. In the following description of the configuration of the first wheel module 4, replacing "first" with "second" results in the configuration of the second wheel module 5, so a description of the configuration of the second wheel module 5 will be omitted.

[0043] 7 is a perspective view of the first wheel module 4. As shown in FIGS. 3 and 7, the first wheel module 4 has a plurality of first wheels 31, a plurality of first support mechanisms 32, a plurality of first support frames 33, a plurality of first support brackets 34, and a plurality of first auxiliary wheels 39. The first wheel module 4 of this embodiment has two first wheels 31, and the same number (two) of first support mechanisms 32, first support frames 33, first support brackets 34, and first auxiliary wheels 39 as the first wheels 31. The first wheel module 4 rotatably supports the two first wheels 31 and the two first auxiliary wheels 39, respectively.

[0044] The first wheels 31 are located at the front and rear of the left side of the vehicle body 2. The first wheels 31 are drive wheels that are rotationally driven by a first traveling hydraulic motor 41, which will be described later. The rotation of the first wheels 31 causes the work vehicle 1 to travel. The first auxiliary wheels 39 are attached midway through the first articulating link mechanism 35, which will be described later. The first auxiliary wheels 39 in this embodiment are attached to the connecting portion (joint portion) between the first hip link 36 and first knee link 37, which will be described later. The first auxiliary wheels 39 are driven wheels that can rotate freely.

[0045] The first support frames 33 are located at the left front and left rear of the first connecting member 6. The first support frames 33 are detachably attached to the first connecting member 6. A pair of first support brackets 34 are fixed to each first support frame 33. The pair of first support brackets 34 extend downward from both the left and right sides of the first support frame 33.

[0046] The first support mechanism 32 is attached to a pair of first support brackets 34 fixed to the front and rear first support frames 33, respectively, and supports the first wheels 31 so that their positions can be changed relative to the vehicle body 2. The first support mechanism 32 has a first articulating link mechanism 35 and a first swivel bracket 38. The first articulating link mechanism 35 is attached to the pair of first support brackets 34. The first articulating link mechanism 35 is a first vehicle body support part that supports the first wheels 31 so that they can be individually raised and lowered relative to the vehicle body 2.

[0047] Fig. 8 is an explanatory diagram of the first support mechanism 32. As shown in Fig. 8, the first articulating link mechanism 35 of the first support mechanism 32 has a first hip link 36 and a first knee link 37. Each of the first hip link 36 and the first knee link 37 is a linear member.

[0048] An upper end of the first hip link 36 is supported by the first support bracket 34 so as to be swingable about a horizontal axis X1 in the left-right direction. One end of a first knee link 37 is supported by a lower end of the first hip link 36 so as to be swingable about a horizontal axis X2 in the left-right direction. A first swivel bracket 38 is attached to the other end of the first knee link 37 so as to be swingable about a vertical axis Y in the up-down direction. A first wheel 31 is rotatably supported by the first swivel bracket 38.

[0049] 7 and 8 , the first wheel module 4 further includes a plurality of first devices 40, a plurality of first traveling actuators 41, a plurality of first attitude changing actuators 42, and a plurality of first turning actuators 45. The first wheel module 4 of this embodiment includes the same number (two) of first devices 40, first traveling actuators 41, first attitude changing actuators 42, and first turning actuators 45 as the number of first wheels 31. The first devices 40 include devices that receive power from the hydraulic pump 24, which is a power source, and transmit the power to the plurality of first wheels 31. The first devices 40 of this embodiment include a plurality of first control valves 46 and a first collector 47.

[0050] The first traveling actuator 41 is a hydraulic motor that rotates and drives the first wheel 31, and is operated by receiving hydraulic oil as power from the hydraulic pump 24. Hereinafter, the first traveling actuator 41 will be referred to as the first traveling hydraulic motor 41. The first traveling hydraulic motor 41 is mounted on the first swing bracket 38.

[0051] The first swing actuator 45 changes the rolling direction of the first wheel 31 via the first swing bracket 38. The first swing actuator 45 is a hydraulic cylinder attached between the first knee link 37 and the first swing bracket 38. Hereinafter, the first swing actuator 45 will be referred to as the first swing hydraulic cylinder 45. The first swing hydraulic cylinder 45 operates by receiving hydraulic oil as power from the hydraulic pump 24. When the first swing hydraulic cylinder 45 extends and retracts, the first swing bracket 38 and the first wheel 31 swing around the vertical axis Y. The traveling direction of the work vehicle 1 is changed by the operation of the first swing hydraulic cylinder 45.

[0052] The first attitude-changing actuator 42 operates the first articulation link mechanism 35 to change the attitude of the first articulation link mechanism 35. The first attitude-changing actuator 42 has a first hip hydraulic cylinder 43 and a first knee hydraulic cylinder 44. The first hip hydraulic cylinder 43 and the first knee hydraulic cylinder 44 each operate by receiving hydraulic oil as power from the hydraulic pump 24. A pair of first attitude-changing actuators 42 each having the first hip hydraulic cylinder 43 and the first knee hydraulic cylinder 44 is provided for one first articulation link mechanism 35 having the first hip link 36 and the first knee link 37.

[0053] The first hip hydraulic cylinder 43 is attached between the first support bracket 34 and the first hip link 36. The first hip hydraulic cylinder 43 extends and contracts to swing the first hip link 36 around the horizontal axis X1. The first hip hydraulic cylinder 43 changes the swing posture of the first hip link 36 relative to the vehicle main body 2.

[0054] The first knee hydraulic cylinder 44 is attached between the first hip link 36 and the first knee link 37. The first knee hydraulic cylinder 44 extends and retracts to swing the first knee link 37 around the horizontal axis X2. The first knee hydraulic cylinder 44 changes the swing position of the first knee link 37 relative to the first hip link 36.

[0055] The first articulation link mechanism 35 is bent and extended by the extension and contraction of the first hip hydraulic cylinder 43 and the first knee hydraulic cylinder 44. For example, when the first hip hydraulic cylinder 43 is extended and contracted while the first knee hydraulic cylinder 44 is stopped, the first hip link 36, the first knee link 37, and the first wheel 31 swing together around the horizontal axis X1 while maintaining a constant relative positional relationship. When the first hip hydraulic cylinder 43 is stopped and the first knee hydraulic cylinder 44 is extended and contracted, the first knee link 37 and the first wheel 31 swing together around the horizontal axis X2 while maintaining a constant attitude of the first hip link 36 relative to the vehicle main body 2.

[0056] The first wheel module 4 of this embodiment has two first support mechanisms 32, and one first support mechanism 32 is provided with a set of first attitude-changing actuators 42. The set of first attitude-changing actuators 42 provided in one first support mechanism 32 and the other set of first attitude-changing actuators 42 provided in the other first support mechanism 32 are separate actuators, and each first attitude-changing actuator 42 operates independently. As described above, the two first wheels 31 can be raised and lowered individually relative to the vehicle body 2. Furthermore, the positions (heights) of the two first wheels 31 relative to the vehicle body 2 can be made different from each other.

[0057] The first attitude change actuator 42 is capable of changing the distance between the ground contact surface of the first wheel 31 and the vehicle body 2. The distance is the distance between the ground contact surface of the first wheel 31 and the support position (horizontal axis X1) of the first support mechanism 32 on the first support bracket 34.

[0058] The multiple first control valves 46 of the first device 40 are arranged side by side in the front-to-rear direction between the front first support bracket 34 and the rear first support bracket 34, and are attached to these first support brackets 34. The multiple first control valves 46 are hydraulic control valves that are individually connected to each actuator and switch the operation of each actuator.

[0059] The first device 40 of this embodiment has four first control valves 46 respectively connected to the first traveling hydraulic motor 41, the first hip hydraulic cylinder 43, the first knee hydraulic cylinder 44, and the first swing hydraulic cylinder 45. By individually switching these first control valves 46, the first traveling hydraulic motor 41, the first hip hydraulic cylinder 43, the first knee hydraulic cylinder 44, and the first swing hydraulic cylinder 45 each operate independently.

[0060] The four first control valves 46 are connected to a first collecting section 47. The first collecting section 47 is a manifold having an oil passage formed therein that collects the hydraulic oil supplied to and discharged from each of the four first control valves 46. The first collecting section 47 has a single first P port 47a and a single first T port 47b.

[0061] The first P port 47a is a port through which hydraulic oil is supplied from the hydraulic pump 24 of the vehicle body 2 to each of the four first control valves 46. The first T port 47b is a port through which hydraulic oil is discharged from each of the four first control valves 46 to the hydraulic oil tank 23 of the vehicle body 2. A pair of first hydraulic pipes 65, which will be described later, is connected to the first P port 47a and the first T port 47b, respectively.

[0062] The first wheel module 4 further includes a plurality of first drive circuits 48, a plurality of first couplers 49, and a first auxiliary frame 50. The first wheel module 4 of this embodiment includes the same number of first drive circuits 48 and first couplers 49 as the number of first devices 40 (two), and a single first auxiliary frame 50.

[0063] The first auxiliary frame 50 is disposed midway between the front first support frame 33 and the rear first support frame 33, and is disposed parallel to the first support frame 33. A pair of front and rear positioning pins 51 that protrude further to the right than the first auxiliary frame 50 are fixed to the right end of the first auxiliary frame 50.

[0064] The two first drive circuits 48 and the two first couplers 49 are arranged on both the front and rear sides of the first auxiliary frame 50 between the front first support bracket 34 and the rear first support bracket 34, and are attached to these first support brackets 34 and first auxiliary frame 50.

[0065] The first drive circuit 48 is electrically connected to the control device 15 (main ECU 151) of the vehicle body 2. The first drive circuit 48 has a first sub-ECU 481 (see FIG. 9 ) that individually switches the multiple (four) first control valves 46 based on control signals from the control device 15.

[0066] The first coupler 49 is connected to a first harness 18 on the vehicle main body 2 side. The first harness 18 includes multiple power feed lines and multiple signal lines. The power feed lines include power feed lines that supply power from the battery 25 to each of the first control valves 46 and each of the sensors S1, S2, S3, S5, and S6 (described later). The signal lines include a signal line that transmits a control signal from the main ECU 151 of the vehicle main body 2 to the first sub-ECU 481, and a signal line that transmits a detection signal from each of the sensors S1, S2, S3, S5, and S6 to the main ECU 151.

[0067] The first coupler 49 is electrically connected to the first sub-ECU 481 of the first drive circuit 48. When the first harness 18 is connected to the first coupler 49, power is supplied to the sensors S1, S2, S3, S5, and S6 of the first wheel module 4, and the control signals and the detection signals can be transmitted between the vehicle body 2 and the first wheel module 4.

[0068] [Sensors] The work vehicle 1 is equipped with multiple sensors. Figure 9 is a control block diagram of the work vehicle 1, and mainly shows the configuration related to the first support mechanism 32 on the front side of the first wheel module 4. In Figure 9, the configurations of the first support mechanism 32 on the rear side of the first wheel module 4 and the second support mechanisms 32 on the front and rear sides of the second wheel module 5 are omitted, but they have the same configuration as the first support mechanism 32 on the front side of the first wheel module 4.

[0069] The first wheel module 4 has a head side pressure sensor S1, a rod side pressure sensor S2, a stroke sensor S3, a rotation sensor S5, and a pressure sensor S6. The head side pressure sensor S1 and the rod side pressure sensor S2 are connected to the first knee hydraulic cylinder 44. The head side pressure sensor S1 detects the internal pressure of the head side oil chamber of the first knee hydraulic cylinder 44. The rod side pressure sensor S2 detects the internal pressure of the rod side oil chamber of the first knee hydraulic cylinder 44. The main ECU 151 acquires the detection signals of the sensors S1 and S2.

[0070] A stroke sensor S3 that detects the amount of extension / contraction is provided in each of the first hip hydraulic cylinder 43 and the first knee hydraulic cylinder 44. The amount of extension / contraction of each of the first hip hydraulic cylinder 43 and the first knee hydraulic cylinder 44 is related to the swing positions of each of the first hip link 36 and the first knee link 37. Therefore, the detection value of the stroke sensor S3 is correlated with the swing positions of each of the first hip link 36 and the first knee link 37. The detection value of the stroke sensor S3 uniquely determines the position of the first wheel 31 relative to the vehicle body 2. The main ECU 151 is able to acquire the detection signal of the stroke sensor S3 and detect the position of the first wheel 31.

[0071] A rotation sensor S5 that detects the rotation speed of the first wheel 31 is provided near the first wheel 31. The main ECU 151 acquires a detection signal from the rotation sensor S5. Based on the detection value of the rotation sensor S5, the main ECU 151 controls the supply of hydraulic oil to the first traveling hydraulic motor 41 so that the rotation speed of the first wheel 31 becomes a target value.

[0072] The pressure sensor S6 detects the pressure of the hydraulic oil supplied to the first traveling hydraulic motor 41. The main ECU 151 acquires the detection signal of the pressure sensor S6. Based on the hydraulic oil pressure detected by the pressure sensor S6, the main ECU 151 controls the supply (pressure) of hydraulic oil to the first traveling hydraulic motor 41 so that the drive torque of the first wheel 31 becomes a target value. Each of the four first swing hydraulic cylinders 45 is provided with a stroke sensor S7 that can detect the amount of extension and contraction of the first swing hydraulic cylinder 45. The main ECU 151 acquires the detection signal of the stroke sensor S7 and controls the traveling direction of the work vehicle 1.

[0073] The vehicle body 2 is provided with an inclination sensor S4 that detects the inclination state of the vehicle body 2. The inclination sensor S4 is configured using an inertial measurement unit (IMU), which is a well-known configuration. The IMU of this embodiment has a triaxial acceleration sensor and a gyro sensor, and detects changes in the attitude of the vehicle body 2, specifically, tilt in the front-rear and left-right directions. The main ECU 151 acquires the detection signal of the inclination sensor S4.

[0074] [Control Device] The main ECU 151 of the control device 15 in the vehicle body 2 has a microcomputer and executes various controls according to control programs. The main ECU 151 has a non-volatile memory that stores programs corresponding to functional units that execute various controls, and a CPU that executes the programs. The functions (controls) of each functional unit are realized by the CPU executing the programs. In the following description of the controls executed by the main ECU 151, the terms "first" and "second" will be omitted from the respective components of the first wheel module 4 and the second wheel module 5.

[0075] The main ECU 151 has an attitude control unit 152 as one of the functional units. The attitude control unit 152 executes horizontal control and center of gravity position control. The main ECU 151 controls the attitude change actuators 42 of the first wheel module 4 and the second wheel module 5, and performs attitude control to maintain the vehicle body 2 in a predetermined attitude while traveling. In the following, the "predetermined attitude" will be described as an attitude in which the loading section 3 (loading surface 3 a) of the vehicle body 2 is horizontal (horizontal attitude), but it may be an attitude other than the horizontal attitude.

[0076] (Horizontal Control) When the work vehicle 1 is traveling, the posture control unit 152 performs horizontal control based on the detection signal from the inclination sensor S4. Horizontal control is a control that operates each of the four support mechanisms 32 of the first wheel module 4 and the second wheel module 5 so that the loading unit 3 is in a horizontal position. Based on the detection signal from the inclination sensor S4, the posture control unit 152 determines the tilt angles in the front-to-back direction and the left-to-right direction, with the vehicle main body 2 (loading unit 3) in a reference position in a horizontal position. The posture control unit 152 controls the operation of the four hip hydraulic cylinders 43 and the four knee hydraulic cylinders 44 so that these tilt angles become values ​​corresponding to the horizontal position (i.e., the tilt angle is zero).

[0077] (Center of gravity position control) The posture control unit 152 is capable of performing center of gravity position control, which determines the center of gravity position of the vehicle body 2 based on the detection information of the inclination sensor S4 and the stroke sensor S3, and controls the operation of each support mechanism 32 so that the center of gravity position is located in the center of multiple (four) wheels 31 in a planar view.

[0078] Center of gravity position control is control that adjusts the pressure (force) supporting the vehicle body 2 so that the center of gravity of the vehicle body 2 converges to a target center of gravity regardless of the unevenness of the road surface. As a variation of center of gravity position control, the attitude control unit 152 does not determine the center of gravity position of the vehicle body 2, but determines the ground contact pressure of the four wheels 31. The ground contact pressure is determined based on detection signals from pressure sensors S1 and S2. In this case, the attitude control unit 152 controls the operation of the support mechanism 32 so that the ground contact pressure of the wheels 31 on the lower side of the slope and the ground contact pressure of the wheels 31 on the upper side of the slope are equal.

[0079] The center of gravity position control makes it possible to generate driving force by aligning the wheels 31 with the unevenness of the road surface. By performing horizontal control and center of gravity position control, the posture control unit 152 can operate the support mechanism 32 so that the placement surface 3a is in a horizontal position and so that all the wheels 31 generate driving force by aligning with the unevenness of the road surface.

[0080] 3, the first connecting member 6 and the second connecting member 7 have the same configuration and are arranged symmetrically on either side of the vehicle body 2. In the following description of the configuration of the first connecting member 6, replacing "first" with "second" will result in the configuration of the second connecting member 7, so a description of the configuration of the second connecting member 7 will be omitted.

[0081] 10 is a perspective view of the first connecting member 6. As shown in FIGS. 3 and 10 , the first connecting member 6 is configured similarly to the main frame 11 of the vehicle body 2. The left-right dimension of the first connecting member 6 is the same as the left-right dimension of the main frame 11. The front-rear dimension of the first connecting member 6 is the same as the front-rear dimension of the main frame 11.

[0082] The first connecting member 6 has a pair of first frame portions 61 arranged vertically and a plurality of first pillar portions 62. Each first frame portion 61 is formed into a rectangular frame shape by a plurality of frame members. Each first frame portion 61 has a plurality of first longitudinal members 61a and a plurality of first transverse members 61b. In this embodiment, each first frame portion 61 has two first longitudinal members 61a and three first transverse members 61b.

[0083] The two first longitudinal members 61a of each first frame portion 61 are frame members that are long in the front-to-rear direction and spaced apart in the left-to-right direction. The three first short members 61b are frame members that are spaced apart in the front-to-rear direction between the two first longitudinal members 61a. The first short members 61b are respectively located between the front portions, middle portions, and rear portions of the first longitudinal members 61a on both the left and right sides and are fixed to these longitudinal members 61a.

[0084] The multiple first pillars 62 are arranged at four locations, front, back, left and right, between the pair of first frame parts 61, and connect the pair of first frame parts 61. The upper end of each first pillar part 62 abuts and is fixed to the first longitudinal member 61 a of the upper first frame part 61. The lower end of each first pillar part 62 abuts and is fixed to the first longitudinal member 61 a of the lower first frame part 61.

[0085] The first connecting member 6 is detachably attached to the main frame 11 of the main module 10 (vehicle body 2). Specifically, the outer surface of the right-side first longitudinal member 61a of each of the upper and lower first frame portions 61 of the first connecting member 6 abuts against the outer surface of the left-side longitudinal member 111a of each frame portion 111 of the main frame 11. In this state, the longitudinal member 111a is attached to the first longitudinal member 61a with bolts (not shown) or the like.

[0086] The first support frame 33 of the first wheel module 4 is detachably attached to the first connecting member 6. Specifically, the right ends of the front and rear first support frames 33 and the first auxiliary frame 50 abut against the outer surface of the left first longitudinal member 61 a of the upper first frame portion 61 of the first connecting member 6.

[0087] At this time, each positioning pin 51 of the first auxiliary frame 50 is inserted into a pin hole 61c (FIG. 10) formed in the upper first longitudinal member 61a of the first connecting member 6. This positions the first wheel module 4 with respect to the first connecting member 6. In this state, the first support frame 33 and the first auxiliary frame 50 are attached to the first longitudinal member 61a with bolts (not shown) or the like.

[0088] The first connecting member 6 supports a pair of first hydraulic pipes 65 by arranging these first hydraulic pipes 65 between the upper and lower first frame portions 61 and between the front and rear first column portions 62. One end of each of the pair of first hydraulic pipes 65 is connected to the valve case 14 (FIG. 5) of the vehicle main body 2. The other end of each of the pair of first hydraulic pipes 65 is connected to the first P port 47a and the first T port 47b of the first collection portion 47 (FIG. 7) of the first wheel module 4.

[0089] One of the first hydraulic pipes 65 constitutes a part of a supply path (first transmission path for transmitting power) that supplies hydraulic oil from the hydraulic pump 24 (power source) of the vehicle body 2 to the first device 40 of the first wheel module 4 via the valve case 14. The other first hydraulic pipe 65 constitutes a part of a discharge path that discharges hydraulic oil from the first device 40 (first collector 47) to the hydraulic oil tank 23 of the vehicle body 2.

[0090] The first connecting member 6 is detachable from the vehicle body 2 (main module 10) and the first wheel module 4, but may also be fixed to the vehicle body 2 and the first wheel module 4. The first connecting member 6 may have a dedicated support portion that supports the pair of first hydraulic pipes 65. A plurality of first connecting members 6 may be arranged side by side in the left-right direction between the vehicle body 2 and the first wheel module 4.

[0091] [Adjusting the Distance Between the Power Module and the Wheels] The work vehicle 1 of this embodiment is configured so that the distance in the left-right direction between the end of the power module 20 on the side of the first wheel (second wheel) 31 and the inner end of the first wheel (second wheel) 31 is adjustable (changeable). For example, by removing the first connecting member 6 from the main module 10 and the first wheel module 4 from the state shown in Fig. 3, the first wheel module 4 can be attached to the main frame 11 of the main module 10, as shown in Fig. 11.

[0092] Specifically, with the first connecting member 6 removed, the right ends of the front and rear first support frames 33 and the first auxiliary frame 50 are brought into contact with the outer surface of the left longitudinal member 111a of the upper frame portion 111 of the main frame 11. In this state, the first support frame 33 and the first auxiliary frame 50 are attached to the longitudinal member 111a with bolts (not shown) or the like.

[0093] At this time, the positioning pins 51 of the first auxiliary frame 50 of the first wheel module 4 are inserted into pin holes (not shown) formed in the longitudinal members 111a of the main frame 11, thereby positioning the first wheel module 4 with respect to the main frame 11. By attaching the first wheel module 4 to the main frame 11 of the main module 10, it is possible to shorten the first distance L1 in the left-right direction between the left end of the power module 20 and the right end (inner end) of the first wheel 31. When the first connecting member 6 is removed as described above, the second distance L2, which will be described later, does not change, and therefore the first distance L1 becomes shorter than the second distance L2.

[0094] By removing the second connecting member 7 from the main module 10 and the second wheel module 5 from the state shown in FIG. 11 (or FIG. 3 ), the second wheel module 5 can be attached to the main frame 11 of the main module 10 as shown in FIG. 12 . The attachment structure is similar to that for attaching the first wheel module 4 to the main frame 11, and therefore a description thereof will be omitted. Attaching the second wheel module 5 to the main frame 11 of the main module 10 shortens the second distance L2 in the left-right direction between the right end of the power module 20 and the left end (inner end) of the second wheel 31. In the state shown in FIG. 12 , the first distance L1 and the second distance L2 are the same length. If only the second connecting member 7 is removed from the state shown in FIG. 3 , the first distance L1 does not change, and the second distance L2 becomes shorter than the first distance L1.

[0095] On the other hand, by attaching the first connecting member 6 (or the second connecting member 7) (FIG. 11) or attaching both the first connecting member 6 and the second connecting member 7 (FIG. 3) from the state shown in FIG. 12, it is possible to lengthen the first distance L1 (or the second distance L2) or to lengthen both the first distance L1 and the second distance L2.

[0096] In addition, when adjusting (changing) at least one of the first distance L1 and the second distance L2, the left-right length of the loading section 3 may be adjusted according to the adjustment, or the loading section 3 may be replaced with one having a different left-right length.

[0097] 3, the power module 20 of the vehicle body 2 is detachably attached to the underside of the main module 10 as described above. In the work vehicle 1 of this embodiment, by removing the power module 20 from the main module 10, the power module 20 can be attached to another location on the work vehicle 1.

[0098] As shown in Figure 13, the power module 20 can be attached to the upper side of the main module 10. In this embodiment, the lower part (e.g., a pair of mounting frame portions 215) of the mounting frame 21 (Figure 6) of the power module 20 is placed on the upper surface of the upper frame portion 111 of the main frame 11 (Figure 5) of the main module 10, and is removably attached with bolts (not shown). Therefore, the power module 20 of this embodiment can be selectively attached to either the upper side or the lower side of the main module 10.

[0099] 14, the power module 20 can be attached to at least one of four locations: the upper and lower sides of the first connecting member 6 and the upper and lower sides of the second connecting member 7. The power module 20 of this embodiment can be attached to any of the four locations.

[0100] Specifically, the lower part (e.g., a pair of mounting frame portions 215) of the mounting frame 21 (Figure 6) of the power module 20 is placed on the upper surface of the first frame portion 61 (Figure 5) above each of the first connecting member 6 and the second connecting member 7, and is removably attached using bolts (not shown).

[0101] The upper portion (e.g., the upper ends of the support portions 211a, 212a) of the mounting frame 21 (Figure 6) of the power module 20 is removably attached by bolts (not shown) while abutting against the lower surfaces of the first frame portions 61 (Figure 5) below the first connecting member 6 and the second connecting member 7, respectively.

[0102] When the power module 20 is attached to the upper side of either the main module 10, the first connecting member 6, or the second connecting member 7, a loading section 3 having a shape that does not interfere with the power module 20 is used depending on the attachment position.

[0103] [Effects of the embodiment] According to the work vehicle 1 of the present embodiment, by connecting the vehicle body 2 and the first wheel module 4 (second wheel module 5) with the first connecting member 6 (second connecting member 7), it is possible to change the first distance L1 (second distance L2) in the left-right direction between the vehicle body 2 and the first wheel (second wheel) 31. This makes it possible to prevent the hydraulic pump 24, which is the power source of the vehicle body 2, from coming into contact with the crops or the like and being damaged when the work vehicle 1 is travelling across crops or the like in the left-right direction, for example.

[0104] The first connecting member 6 (second connecting member 7) is detachable from the vehicle body 2 and the first wheel module 4 (second wheel module 5). This makes it possible to easily adjust the first distance L1 (second distance L2) by attaching and detaching the first connecting member 6 (second connecting member 7) to both the vehicle body 2 and the first wheel module 4 (second wheel module 5).

[0105] The first connecting member 6 (second connecting member 7) can support a first hydraulic pipe (second hydraulic pipe) 65 that supplies hydraulic oil from the hydraulic pump 24 to the first device (second device) 40. This allows the first hydraulic pipe (second hydraulic pipe) 65 to be supported on the first connecting member 6 (second connecting member 7) when the vehicle body 2 and the first wheel module 4 (second wheel module 5) are connected by the first connecting member 6 (second connecting member 7). As a result, the work of supplying hydraulic oil from the hydraulic pump 24 to the first device (second device) 40 via the first connecting member 6 (second connecting member 7) can be easily performed.

[0106] The first device (second device) 40 of the first wheel module 4 (second wheel module 5) has a plurality of first control valves (second control valves) 46. Therefore, compared to when these first control valves (second control valves) 46 are provided in the vehicle body 2, the number of harnesses, hydraulic pipes, etc. connecting the vehicle body 2 and the first device (second device) 40 is reduced. This makes it easier to connect the first connecting member 6 (second connecting member 7) between the vehicle body 2 and the first wheel module 4 (second wheel module 5).

[0107] The vehicle body 2 has a main module 10 and a power module 20 that is detachably attached to the main module 10. This allows the vehicle body 2 to be separated into the main module 10 and the power module 20, making it easy to assemble and disassemble the vehicle body 2.

[0108] The power module 20 can be selectively attached to either the upper or lower side of the main module 10. This allows the attachment position of the power module 20 relative to the main module 10 to be changed, further preventing the hydraulic pump 24 of the power module 20 from coming into contact with crops or the like and being damaged.

[0109] The power module 20 can be attached to either the upper or lower side of the first connecting member 6 or the upper or lower side of the second connecting member 7. This increases the degree of freedom in the attachment position of the power module 20, and further reduces the risk of the hydraulic pump 24 coming into contact with crops or the like and being damaged.

[0110] A first hydraulic piping (second hydraulic piping) 65 on the vehicle body 2 side is connected to the single first P port (second P port) 47a and the single first T port (second T port) 47b in the first collection section (second collection section) 47 of the first device (second device) 40. By connecting the first hydraulic piping (second hydraulic piping) 65 in this manner, hydraulic oil can be supplied to and discharged from each of the multiple first control valves (second control valves) 46 collected in the first collection section (second collection section) 47. This makes it possible to easily connect the first hydraulic piping (second hydraulic piping) 65 on the vehicle body 2 side to the multiple first control valves (second control valves) 46 of the first wheel module 4 (second wheel module 5) when the vehicle body 2 and the first wheel module 4 (second wheel module 5) are connected by the first connecting member 6 (second connecting member 7).

[0111] When the vehicle body 2 and the first wheel module 4 (second wheel module 5) are connected by the first connecting member 6 (second connecting member 7), the first harness (second harness) 18 including a plurality of power supply lines and a plurality of signal lines on the vehicle body 2 side is connected to the first coupler (second coupler) 49 of the first wheel module 4 (second wheel module 5). This makes it easy to perform the wiring work of the first harness (second harness) 18 between the vehicle body 2 and the first wheel module 4 (second wheel module 5).

[0112] [Others] The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope of the claims and equivalents thereof.

[0113] REFERENCE SIGNS LIST 1 Work vehicle 2 Vehicle body 4 First wheel module 5 Second wheel module 6 First connecting member 7 Second connecting member 10 Main module 18 First harness (Second harness) 20 Power module 23 Hydraulic oil tank 24 Hydraulic pump (power source) 31 First wheel (Second wheel) 40 First device (Second device) 46 First control valve (Second control valve) 47 First collecting section (Second collecting section) 47a First P port (Second P port) 47b First T port (Second T port) 49 First coupler (Second coupler) 65 First hydraulic piping (Second hydraulic piping, First transmission path, Second transmission path)

Claims

1. A work vehicle comprising: a vehicle body having a power source; a first wheel module having a plurality of first wheels driven by power from the power source, the first wheel module being arranged on one side of the vehicle body in the left-right direction and supporting each of the plurality of first wheels in a freely rotatable manner; a second wheel module having a plurality of second wheels driven by power from the power source, the second wheel module being arranged on the other side of the vehicle body in the left-right direction and supporting each of the plurality of second wheels in a freely rotatable manner; a first connecting member connecting the vehicle body and the first wheel module; and a second connecting member connecting the vehicle body and the second wheel module, wherein the first wheel module includes a plurality of first devices that receive power from the power source and transmit the power to the plurality of first wheels, and the second wheel module includes a plurality of second devices that receive power from the power source and transmit the power to the plurality of second wheels.

2. A work vehicle as described in claim 1, wherein the first connecting member is detachable from the vehicle body and the first wheel module, and the second connecting member is detachable from the vehicle body and the second wheel module.

3. A work vehicle as described in claim 1 or claim 2, wherein the first connecting member is capable of supporting a first transmission path that transmits the power from the power source to the first equipment, and the second connecting member is capable of supporting a second transmission path that transmits the power from the power source to the second equipment.

4. A work vehicle as described in any one of claims 1 to 3, wherein the first device has a plurality of first control valves, and the second device has a plurality of second control valves.

5. A work vehicle as described in any one of claims 1 to 4, wherein the vehicle body has: a main module to which the first connecting member and the second connecting member are respectively attached; and a power module having the power source and removably attached to the main module.

6. A work vehicle according to claim 5, wherein the power module can be selectively attached to either the upper side or the lower side of the main module.

7. A work vehicle as described in claim 5 or claim 6, wherein the power module can be attached to at least one of the upper and lower sides of the first connecting member and the upper and lower sides of the second connecting member.

8. A work vehicle as described in claim 4, wherein the vehicle body has a hydraulic oil tank in which hydraulic oil is stored, and a hydraulic pump which is the power source that discharges the hydraulic oil from the hydraulic oil tank as the power, the first device has a first collecting section that collects hydraulic oil supplied to and discharged from each of the multiple first control valves, the second device has a second collecting section that collects hydraulic oil supplied to and discharged from each of the multiple second control valves, the first collecting section has a single first P port that supplies hydraulic oil from the hydraulic pump to each of the multiple first control valves, and a single first T port that discharges hydraulic oil from each of the multiple first control valves to the hydraulic oil tank, and the second collecting section has a single second P port that supplies hydraulic oil from the hydraulic pump to each of the multiple second control valves, and a single second T port that discharges hydraulic oil from each of the multiple second control valves to the hydraulic oil tank.

9. A work vehicle as described in any one of claims 1 to 8, wherein the first wheel module has a first coupler to which a first harness on the vehicle body side is connected, and the second wheel module has a second coupler to which a second harness on the vehicle body side is connected.

10. A work vehicle as described in any one of claims 1 to 9, wherein the first connecting member is arranged between the vehicle body and the first wheel module to connect them, and the second connecting member is arranged between the vehicle body and the second wheel module to connect them.

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