JP7134912B2 - Work device and work machine equipped with this work device - Google Patents

Description

The present invention relates to, for example, a work device such as a spraying device and a work machine provided with this work device.

Conventionally, a spraying device disclosed in Patent Document 1 is known.
The spraying device disclosed in Patent Document 1 is driven by rotating an electric motor with electric power supplied from a tractor.

JP-A-2003-153623

However, the technology disclosed in Patent Literature 1 does not take into consideration the processing of the regenerative power generated in the electric motor. For example, in the case of a working device having a power transmission mechanism that uses a combination of power from an engine supplied from a tractor and power from an electric motor that rotates with electric power supplied from the tractor, depending on the load state of the working device, Negative torque may be applied to the motor. In this case, since regenerative power (regenerative electric power) is generated in the electric motor, there is a possibility that the work device cannot obtain a desired output (rotational speed, etc.) unless this regenerative power is consumed.

As a method for solving this problem, a regenerative resistance for consuming regenerative power is provided in the work device, and the regenerative resistance is enabled when the electric motor is in a regenerative state, and is disabled when the electric motor is in a power running state. can be considered. However, when the actual required power (actual load) of the electric motor fluctuates significantly, the regenerative state and the power running state may frequently switch. In this case, the switching part (relay, etc.) that switches between enabling and disabling the regenerative resistance switches frequently, so the durability of the switching part is exceeded in a short period of time, and the regenerative power generated in the motor is properly processed (consumed). ).

The present invention has been made in view of such problems, and is designed to appropriately process (consume) the regenerative power generated in the electric motor even when the actual required power (actual load) of the electric motor fluctuates greatly. An object of the present invention is to provide a working device capable of

A working device according to one aspect of the present invention is a working device that performs agricultural work by being connected to a traveling vehicle having a prime mover, the working device performing agricultural work by rotating a rotating body, an electric motor driven by electric power, and A power transmission mechanism that receives power generated by driving an electric motor and power from the prime mover and transmits the input power to the working unit, a regenerative resistance that consumes the regenerative power generated in the electric motor, and the electric motor. a switching unit for switching between a connection state and a disconnection state with the regenerative resistor; and a control unit for controlling the switching operation of the switching unit, wherein the control unit controls the actual required power of the electric motor to have a positive value exceeding 0 W. and when it is equal to or greater than a first threshold value set based on the fluctuation width of the actual required power determined by the number of revolutions of the rotating body, the switching unit is set to the cut-off state.

Further, the amplitude of the actual required power becomes the first amplitude when the rotational speed of the rotating body is the first rotational speed, and the rotational speed of the rotating body is the second rotational speed lower than the first rotational speed. When it is a number, the second amplitude is larger than the first amplitude.
Preferably, the control unit brings the switching unit into the connected state when the actual required power of the electric motor is equal to or lower than a second threshold lower than the first threshold.

Preferably, the second threshold is set to a negative value less than 0W.
Preferably, said second threshold is set to a positive value greater than 0W.
Preferably, the first threshold is set to a sum of a value obtained by multiplying the swing width of the actual required power by a safety factor and the second threshold.
Preferably, the amplitude of the actual required power used for setting the first threshold is the amplitude of the actual required power at a steady rotation speed in a steady state when the rotating body performs work, and the steady rotation speed is , the number of revolutions at which the actual required power of the electric motor fluctuates while the regenerative state and the power running state are alternated.

Preferably, the control unit puts the switching unit in the cut-off state when the actual required power becomes equal to or greater than the first threshold value, and then continues the cut-off state even when the actual required power falls below the first threshold value. After that, when the actual required power becomes equal to or less than the second threshold value, the switching unit is set to the connected state, and thereafter, when the actual required power becomes equal to or greater than the first threshold value, the switching unit is cut off.

Preferably, the electric motors include a plurality of electric motors, and the control section switches the switching section to a cut-off state when a total value of the actual required power of the plurality of electric motors is equal to or greater than a first threshold value which is a positive value exceeding 0 W. and, when the total value is equal to or less than a second threshold lower than the first threshold, the switching unit is set to the connected state.
Preferably, the prime mover is an engine, and power of the engine is input to the power transmission mechanism via a PTO shaft.

Preferably, the working device is any one of a fertilizer spreading device that spreads fertilizer in a field, a chemical spraying device that sprays a chemical in a field, a sowing device that sows seeds in a field, and a shaping device that collects and shapes harvested crops. be.
A work machine according to an aspect of the present invention is a work machine including a traveling vehicle having a prime mover and a working device coupled to the traveling vehicle, wherein the working device is any one of the working devices described above. be.

According to the working device and working machine described above, the threshold value of the actual required power of the motor at which the switching unit switches from the connected state to the disconnected state is offset from 0 W to the positive value side (the side where the motor is in the power running state). Therefore, in a region where the actual required power of the motor fluctuates while alternating between the regenerative state and the power running state (low rotation speed region), the switching unit maintains the connected state without being cut off. This prevents the switching unit from frequently switching between the connected state and the disconnected state. As a result, even when the actual required power (actual load) of the motor fluctuates significantly, the regenerative power generated in the motor can be appropriately processed (consumed).

It is a side view which shows the whole structure of a working machine. Fig. 3 is a plan view showing the rear part of the working machine; It is a figure which shows the power transmission system of a working machine. Fig. 2 is a rear view of the spreading device; FIG. 4 is a side view of the rear of the tractor with the spreader attached; FIG. 4 is a perspective view showing a state in which the generator unit is attached to the rear part of the tractor; It is a perspective view which shows the state which mounted|worn the generator unit in the mission case rear part. FIG. 4 is an exploded perspective view showing how to mount the generator unit on the mission case; It is a perspective view of a generator unit. It is a rear view of a generator unit. It is a front view of a generator unit. It is a top view of a generator unit. It is a bottom view of a generator unit. It is an exploded perspective view of a generator unit. 4 is a longitudinal sectional view of the transmission unit; FIG. FIG. 5 is an exploded perspective view showing a method of attaching the cover member to the attachment frame; It is a figure which shows the structure of the drive part containing a power transmission mechanism. It is a figure which shows the working machine provided with the regenerative power processing part. It is a figure which shows the structure of a regenerative power processing part. 7 is a table showing an example (pattern 1) of drive patterns of the drive unit; 7 is a table showing an example (pattern 2) of drive patterns of the drive unit; 7 is a table showing an example (pattern 3) of drive patterns of the drive unit; FIG. 11 is a table showing an example (pattern 4) of drive patterns of the drive unit; FIG. It is a table obtained by adding items related to power to the table of pattern 3. 4 is a graph schematically showing the relationship between the number of revolutions of a rotating body and the amplitude of actual required power when the working device is a spraying device; Actual rotation speed of the first motor, actual rotation speed of the second motor 232, command rotation speed and actual rotation speed of the rotating body (first rotating body, second rotating body), actual required power of the first motor and second motor 3 is a graph showing an example of the relationship between the sum of the actual required power and the state of the switching unit. It is a figure which shows the relationship between instruction|command rotation speed R1, receiving rotation speed R2, and correction|amendment rotation speed R3. 5 is a graph schematically showing changes over time in commanded rotational speed R1, received rotational speed R2, and corrected rotational speed R3. 29 is an enlarged view of a part of FIG. 28; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a working machine 1 according to the present invention will be described.
FIG. 1 shows a side view of the entire working machine 1, and FIG. 2 shows a plan view of the rear part of the working machine 1. As shown in FIG.
The working machine 1 includes a traveling vehicle 2 and a working device 3 .

The traveling vehicle 2 is a vehicle that travels while towing the working device 3 . In the case of the present embodiment, the traveling vehicle 2 is a tractor, so the traveling vehicle 2 will be described as the tractor 2 below. However, the traveling vehicle 2 is not limited to a tractor, and may be an agricultural vehicle such as a combine harvester or a rice transplanter, a construction vehicle, or the like. Also, the traveling vehicle 2 may be a pickup truck.
The work device 3 is a device that performs work (agricultural work) on a field or the like. The working device 3 is an implement, an attachment, or the like that is towed by the traveling vehicle 2 . However, the working device 3 may be capable of traveling independently without being towed by the traveling vehicle 2 .

First, the overall configuration of the tractor (traveling vehicle) 2 will be described.
The tractor 2 includes a vehicle body 4 , a travel device 5 and a coupling device 6 . In the embodiment of the present invention, the front side of the driver (left side in FIG. 1) sitting in the driver's seat 7 mounted on the vehicle body 4 is forward, the rear side of the driver (right side in FIG. 1) is rearward, and the left side of the driver. (Front side in FIG. 1) will be described as the left side, and the driver's right side (back side in FIG. 1) will be described as the right side. Also, the horizontal direction K2 (see FIG. 2), which is a direction orthogonal to the front-rear direction K1 (see FIG. 1), will be described as the vehicle width direction.

The vehicle body 4 has a vehicle body frame 8 , a clutch housing 9 and a transmission case 10 . The vehicle body frame 8 extends in the longitudinal direction of the vehicle body 4 . A prime mover 11 is mounted on the body frame 8 . In this embodiment, the prime mover 11 is an internal combustion engine. Specifically, the prime mover 11 is an engine, more specifically a diesel engine. Hereinafter, it is assumed that the prime mover 11 is the engine 11 .

The engine 11 is mounted on the vehicle body frame 8 and arranged in the front part of the vehicle body 4 . The clutch housing 6 is connected to the rear part of the engine 11 and accommodates the clutch. The transmission case 10 is connected to the rear portion of the clutch housing 6 and extends rearward. The transmission case 10 houses a transmission 13, a rear wheel differential device 14, etc., which will be described later.
The travel device 5 has front wheels 5</b>F provided at the front portion of the vehicle body 4 and rear wheels 5</b>R provided at the rear portion of the vehicle body 4 . The front wheels 5</b>F are supported by the body frame 8 . The rear wheel 5R is supported by the output shaft of the rear wheel differential device 14. As shown in FIG. Although the traveling device 5 is of a tire type in this embodiment, it may be of a crawler type.

The coupling device 6 is a device for coupling the working device 3 to the rear portion of the tractor 2 . In this embodiment, coupling device 6 includes a three-point linkage. A specific configuration of the connecting device 6 in this embodiment will be described later. However, the configuration of the coupling device 6 is not particularly limited as long as the working device 3 can be coupled to the rear portion of the traveling vehicle 2 . For example, when the traveling vehicle 2 is a pickup truck, the coupling device 6 couples the working device 3 by a mechanism other than the three-point link mechanism.

The working device 3 includes, for example, a spraying device for spraying sprayed materials such as fertilizers and chemicals (granules, etc.), a tilling device for tilling, a harvesting device for harvesting, a harvesting device for harvesting pasture, and a spreader for pasture. a diffusing device for spreading, a grass collecting device for collecting pasture grass, a forming device for forming pasture grass, and the like. 1 and 2 show an example in which a spraying device is attached as the working device 3. As shown in FIG.
The traveling vehicle 2 includes an ECU (Electric Control Unit) that is a control section that controls electrical components and the like mounted on the traveling vehicle 2 . This ECU (hereinafter referred to as "vehicle side ECU") is composed of a microprocessor or the like including a CPU, an EEPROM, and the like. The ECU on the vehicle side and the electrical equipment are communicably connected via a line such as a CAN (Controller Area Network).

The tractor 2 includes a PTO shaft 19 for transmitting power from the engine 11 that drives the tractor 2 to a working device or the like. The PTO shaft 19 protrudes rearward from the transmission case 10 .
FIG. 3 shows the power transmission system of the working machine 1. As shown in FIG.
As shown in FIG. 3, the transmission 13 includes a main shaft (propulsion shaft) 13a, a main transmission section 13b, an auxiliary transmission section 13c, a shuttle section 13d, and a PTO power transmission section 13e. The propelling shaft 13a is rotatably supported by a housing case of the transmission 13. As shown in FIG. Power from the crankshaft of the engine 11 is transmitted to the propulsion shaft 13a. The main transmission portion 13b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission section 13b changes and outputs (transforms) the rotational speed input from the propulsion shaft 13a by appropriately changing the connection (engagement) of a plurality of gears with a shifter.

Like the main transmission section 13b, the subtransmission section 13c has a plurality of gears and a shifter that changes the connection of the gears. The subtransmission portion 13c appropriately changes the connection (engagement) of a plurality of gears with a shifter to change and output (transform) the rotational speed input from the main transmission portion 13b.
The shuttle portion 13 d has a shuttle shaft 16 and a forward/reverse switching portion 17 . Power output from the auxiliary transmission portion 13c is transmitted to the shuttle shaft 16 via gears and the like. A rear wheel differential device 14 is provided on the shuttle shaft 16 . The rear wheel differential device 14 rotatably supports a rear axle that supports the rear wheels 5R. The forward/reverse switching unit 17 is composed of, for example, a clutch such as a hydraulic clutch or an electric clutch, and switches the rotation direction of the shuttle shaft 16, that is, the forward/reverse of the tractor 2, by turning on/off the clutch.

The PTO power transmission portion 13 e has a PTO clutch 18 and a PTO shaft 19 . The PTO shaft 19 is rotatably supported, and can transmit power from the propulsion shaft 13a. The PTO shaft 19 has a PTO propulsion shaft 19a and a PTO output shaft 19b. The PTO propulsion shaft 19a is connected to the PTO output shaft 19b via the PTO transmission section 20. As shown in FIG. However, the PTO propulsion shaft 19a may be connected to the PTO output shaft 19b without the PTO transmission section 20 interposed therebetween.

The PTO transmission unit 20 can change the rotation speed of the PTO propulsion shaft 19a and transmit it to the PTO output shaft 19b by an operation unit such as a PTO transmission lever. The PTO transmission unit 20 includes, for example, a transmission actuator such as an electromagnetic solenoid or an electric motor that can operate an operation unit based on a control signal from a control unit (vehicle side ECU).
The PTO clutch 18 is a clutch that can be switched between a connected state in which the power of the propulsion shaft 13 a is transmitted to the PTO shaft 19 and a disconnected state in which the power of the propulsion shaft 13 a is not transmitted to the PTO shaft 19 . Specifically, the PTO clutch 18 is provided between the propulsion shaft 13a and the PTO propulsion shaft 19a. The PTO clutch 18 is composed of a hydraulic clutch, an electric clutch, or the like. By turning the clutch on and off, the power of the propulsion shaft 13a (the power of the engine 11) is transmitted to the PTO shaft 19, and the power of the propulsion shaft 13a is transferred to the PTO. It is possible to switch between a state in which no transmission is made to the shaft 19 .

A power branch portion 21 is provided in the middle of the PTO output shaft 19b. The power branch unit 21 divides the rotational power transmitted to the PTO output shaft 19b into a first path 21a that outputs the rotational power from the input shaft 24 connected to the PTO output shaft 19b and a second path 21b that transmits the power to the generator 15. branch. The power branch portion 21 is composed of a transmission mechanism 25 (see FIG. 15), which will be described later. In the case of this embodiment, the transmission mechanism 25 is a transmission mechanism including gears. However, the transmission mechanism 25 that constitutes the power branch portion 21 is not limited to a transmission mechanism including gears, and may be another transmission mechanism (for example, a mechanism including a pulley and a belt, a mechanism including a sprocket and a chain, etc.). good too.

The generator 15 provided on the second path 21 b is connected to the motor 23 via the inverter 22 . The motor 23 is an electric motor (motor) and is driven (rotated) by power (electric power) from the generator 15 . The inverter 22 functions as a transmission that changes the rotation speed (number of rotations) of the motor 23 . The number of motors 23 driven by power from the generator 15 may be one or two or more. In this embodiment, the number of motors 23 driven by power from the generator 15 is two. The two motors 23 are hereinafter referred to as a first motor 231 and a second motor 232, respectively. The first motor 231 and the second motor 232 will be described later in detail.

<Generator unit>
Next, the generator unit 12 including the generator 15 will be described.
As shown in FIGS. 5 and 6, the generator unit 12 is attached to the tractor (traveling vehicle) 2 . More specifically, as shown in FIGS. 7 and 8, the generator unit 12 is attached to the rear portion of the transmission case 10 .
As shown in FIGS. 9 to 15, the generator unit 12 includes a generator 15, an input shaft 24, a transmission mechanism 25, a mounting frame 26 and a connector 27. FIG. Although the generator unit 12 will be described below, the orientation of the generator unit 12 is based on the state where the generator unit 12 is attached to the rear portion of the tractor 2 (see FIGS. 5 and 6). Specifically, the direction of arrow A in FIG. 9 is referred to as forward, the direction of arrow B is referred to as rearward, the direction of arrow C is referred to as left, and the direction of arrow D is referred to as right. The directions of arrows A and B are collectively referred to as the vertical direction, and the directions of arrows C and D are collectively referred to as the vehicle width direction.

The generator 15 is an alternator in this embodiment. However, the generator 15 may be a motor generator. The generator 15 rectifies AC power and outputs DC power. However, the generator 15 may output AC power. The output voltage of the generator 15 can also be lower than 75V (less than 75V). The Low Voltage Directive (LVD) (2014/35/EU) requires electrical equipment used in the voltage range of DC 75V to 1500V to comply with these regulations for safety. By making the output voltage of 15 lower than 75V, it can be used in a safer voltage range which is lower than the voltage range defined by LVD.

Moreover, it is preferable that the generator 15 has an output voltage of 60 V or less. By using the generator 15 whose output voltage is 60V or less, no insulation measures are required. It is also safer and consumes less power. Furthermore, the generator 15 can be made smaller and lighter.
Furthermore, the output voltage of the generator 15 can be 48V or less. By setting the output voltage of the generator 15 to 48 V or less, it is possible to apply automobile electrification technology. In addition, power can be supplied to drive various types of working devices 3 used for agricultural work.

The output power of the generator 15 is preferably 20 kW or less, and is set, for example, in the range of 1 kW to 20 kW, 5 kW to 20 kW, or the like.
The input shaft 24 is a shaft to which power from the engine 11 is input. As shown in FIG. 15, the input shaft 24 has a first connecting portion 24a on one end side. The PTO shaft 19 (PTO output shaft 19b) is connected to the first connection portion 24a. In the case of this embodiment, the external spline formed on the PTO output shaft 19b is fitted to the internal spline formed on the first connecting portion 24a. As a result, power from the engine 11 is input to the input shaft 24 from the first connection portion 24a via the PTO output shaft 19b. A second connection portion 24b is provided on the other end side of the input shaft 24 . The second connection portion 24 is connectable to the working device 3 . In the case of this embodiment, the second connecting portion 24b is an external spline formed on the outer circumference of the input shaft 24. As shown in FIG. Thereby, the power input to the input shaft 24 can be transmitted to the working device 3 .

As the PTO output shaft 19b, an existing shaft provided in the tractor 2 from the beginning (before the generator unit 12 is attached) may be used. It may be replaced with a new PTO output shaft 19b. Specifically, when installing the generator unit 12, the existing PTO output shaft 19b of the tractor 2 may be removed from the mission case 10, and a new PTO output shaft 19b having a different length may be attached to the mission case 10. . For example, by replacing the existing PTO output shaft 19b with a new PTO output shaft 19b having a shorter length, the generator unit 12 can be mounted closer to the tractor 2.

The transmission mechanism 25 is a mechanism that transmits power input to the input shaft 24 to the generator 15 . As shown in FIG. 15 , the transmission mechanism 25 has a first gear 251 , a second gear 252 , a third gear 253 , a fourth gear 254 , an intermediate shaft 255 and an output shaft 256 . The first gear 251 is attached to the middle portion of the input shaft 24 (between the first connection portion 24a and the second connection portion 24b). The first gear 251 is arranged on the same axis as the input shaft 24 and rotates together with the input shaft 24 . The second gear 252 and the third gear 253 are mounted on the intermediate shaft 255 . The intermediate shaft 255 is arranged parallel to the input shaft 24 and above the input shaft 24 . The second gear 252 and the third gear 253 are arranged side by side in the axial direction of the intermediate shaft 255 and on the same axis as the intermediate shaft 255 and rotate together with the intermediate shaft 255 . The second gear 252 meshes with the first gear 251 . The third gear 253 meshes with the fourth gear 254 . A fourth gear 254 is mounted on an output shaft 256 . The output shaft 256 is arranged parallel to the intermediate shaft 255 and above the intermediate shaft 255 . The fourth gear 254 is arranged coaxially with the output shaft 256 and rotates together with the output shaft 256 .

The first gear 251 , the second gear 252 , the third gear 253 , the fourth gear 254 and the intermediate shaft 255 are accommodated in the housing 28 . Inside the housing 28, a first bearing 29A, a second bearing 29B, and a third bearing 29C are arranged. The first bearing 29A rotatably supports the input shaft 24. As shown in FIG. The second bearing 29B rotatably supports the intermediate shaft 255. As shown in FIG. The third bearing 29C rotatably supports the output shaft 256. As shown in FIG. As shown in FIGS. 10 to 15, the housing 28 has a flat, substantially rectangular parallelepiped shape, and includes a first wall portion 28a, a second wall portion 28b, and a peripheral wall portion 28c.

As shown in FIG. 15 , the first wall portion 28 a is arranged on one end side (front side) of the input shaft 24 . The second wall portion 28 b is arranged on the other end side (rear side) of the input shaft 24 . The second wall portion 28b faces the first wall portion 28a. The peripheral wall portion 28c connects the periphery of the first wall portion 28a and the periphery of the second wall portion 28b. As shown in FIG. 10, the peripheral wall portion 28c has an upper wall portion 28c1, a lower wall portion 28c2, a left wall portion 28c3, and a right wall portion 28c4. A fuel filler port 28d is provided in the upper wall portion 28c1. As shown in FIGS. 10 and 14, the left wall portion 28c3 is provided with a first projecting portion 28e. The first projecting portion 28e is plate-shaped and projects leftward from the left wall portion 28c. A plurality (two) of the first protrusions 28e are provided at intervals in the vertical direction. A second projecting portion 28f is provided on the right wall portion 28c4. The second protruding portion 28f is plate-shaped and protrudes rightward from the right wall portion 28c4. A plurality (two) of the second protrusions 28f are provided at intervals in the vertical direction. A first through hole 28g is formed in the first projecting portion 28e. A second through hole 28h is formed in the second projecting portion 28f.

As shown in FIG. 15, the input shaft 24 passes through the housing 28. As shown in FIG. A first connection portion 24 a of the input shaft 24 protrudes forward from a first wall portion 28 a of the housing 28 . The second connection portion 24b of the input shaft 24 protrudes rearward from the second wall portion 28b of the housing 28 . One end (rear end) of the output shaft 256 protrudes rearward from the housing 28, and the input shaft 15a of the generator 15 is connected to the protruded portion. Thereby, the generator 15 is arranged above the input shaft 24 .

The generator 15 is attached to the second wall portion 28b of the housing 28 with bolts (not shown). Thereby, the generator 15, the input shaft 24, the transmission mechanism 25, and the housing 28 are integrated. In the following description, the integrated generator 15, input shaft 24, transmission mechanism 25, and housing 28 are collectively referred to as "transmission unit 45".
Rotational power from the engine 11 is input to the input shaft 24 from the first connection portion 24a via the PTO output shaft 19b. The rotational power inputted to the input shaft 24 is branched into two and transmitted. One of the branched rotational powers is output from the second connection portion 24 b of the input shaft 24 . The other of the branched rotational power is output from the output shaft 256 via the first gear 251 attached to the input shaft 24, the second gear 252, the third gear 253, and the fourth gear 256. It is transmitted to the generator 15 .

Thus, the rotational power from the engine 11 is transmitted to the generator 15 via the transmission mechanism 25, and the generator 15 is driven. The transmission mechanism 25 also functions as a transmission mechanism (speed increasing mechanism). Therefore, the rotation speed of the output shaft 256 increases compared to the rotation speed of the PTO output shaft 19b. Further, the rotational power from the engine 11 is also output from the second connecting portion 24b of the input shaft 24 in addition to the output from the output shaft 256 .

As shown in FIG. 14 and the like, the transmission unit 45 is attached to the attachment frame 26 . The mounting frame 26 has a mounting portion 33 , a mounting portion 34 and a connecting portion 35 . In the case of this embodiment, the mounting frame 26 is a ladder-like frame (ladder hitch frame) having a hitch portion. However, the mounting frame 26 is not limited to the ladder hitch frame.
The mounting portion 33 is a portion that is mounted on the tractor 2 . The mounting portion 33 includes a first mounting portion 331 and a second mounting portion 332 . The first mounting portion 331 is arranged on the left side of the mounting frame 26 . The second mounting portion 332 is arranged on the right side of the mounting frame 26 . The first mounting portion 331 is mounted on one side (left side) in the width direction (vehicle width direction) of the tractor 2 . The second mounting portion 332 is mounted on the other widthwise side (right side) of the tractor 2 .

As shown in FIGS. 10 to 14, the first mounting portion 331 has a first front plate 331a and a first side plate 331b. The first front plate 331a is an elongated plate (belt-shaped plate) extending in the vertical direction. The first front plate 331a is arranged with one surface facing forward (the tractor 2 side) and the other surface facing the rear (working device 3 side). A plurality of first mounting holes 331c are formed in the first front plate 331a at intervals in the vertical direction. The first side plate 331b extends rearward from the first front plate 331a. The first side plate 331b is arranged with one surface (outer surface) facing left and the other surface (inner surface) facing right. A plurality of first screw holes 331d are formed in the first side plate 331b at intervals in the vertical direction. A first notch portion 331e is formed in the upper portion of the first side plate 331b so as to be notched downward.

As shown in FIGS. 10 to 14, the second mounting portion 332 has a second front plate 332a and a second side plate 332b. The second front plate 332a is an elongated plate (strip plate) extending in the vertical direction. The second front plate 332a is arranged with one surface facing forward and the other surface facing rearward. A plurality of second mounting holes 332c are formed in the second front plate 332a at intervals in the vertical direction. The second side plate 332b extends rearward from the second front plate 332a. The second side plate 332b is arranged with one surface (outer surface) facing left and the other surface (inner surface) facing left. The other surface (inner surface) of the second side plate 332b faces the other surface (inner surface) of the first side plate 331b. A plurality of second screw holes 332d (see FIG. 16) are formed in the second side plate 332b at intervals in the vertical direction. A second notch 332e is formed in the upper part of the second side plate 332b so as to be notched downward.

The attachment portion 34 is a portion to which a transmission unit 45 including the transmission mechanism 25 is attached. The mounting portion 34 includes a first mounting portion 341 and a second mounting portion 342 .
The first attachment portion 341 extends rightward (toward the second side plate 332b) from the inner surface of the first side plate 331b. The first mounting portion 341 has a plate-like shape, with one surface facing forward and the other surface facing rearward. The first mounting portion 341 is arranged behind the first front plate 331 a of the first mounting portion 331 . One surface (front surface) of the first attachment portion 341 faces the other surface (rear surface) of the first front plate 331a. A plurality (two) of the first mounting portions 341 are provided at intervals in the vertical direction. A first attachment hole 341 a is formed in the first attachment portion 341 .

The second mounting portion 342 extends leftward (toward the first side plate 331b) from the inner surface of the second side plate 332b. The second mounting portion 342 has a plate-like shape, with one surface facing forward and the other surface facing rearward. The second mounting portion 342 is arranged behind the second front plate 332 a of the second mounting portion 332 . One surface (front surface) of the second mounting portion 342 faces the other surface (rear surface) of the second front plate 332a. A plurality (two) of the second mounting portions 342 are provided at intervals in the vertical direction. A second mounting hole 342 a is formed in the second mounting portion 342 .

The connecting portion 35 extends in the width direction of the vehicle and connects the first mounting portion 331 and the second mounting portion 332 . Specifically, the connecting portion 35 connects the inner surface of the first side plate 331b and the inner surface of the second side plate 332b. The linking portion 35 includes a first linking portion 351 and a second linking portion 352 . The first linking portion 351 is provided behind the mounting portion 33 and in front of the mounting portion 34 . The first connecting portion 351 connects the first side plate 331b and the second side plate 332b, and connects the first front plate 331a and the second front plate 332a. The second linking portion 352 extends in the vehicle width direction below the first linking portion 351 . The second connecting portion 352 connects the lower portion of the first side plate 331b and the lower portion of the second side plate 332b. A drawbar (towing hitch) or the like can be attached to the second connecting portion 352 .

An oil tank 36 is attached to the first connecting portion 351 . The oil tank 36 stores oil to be supplied inside the housing 28 . As shown in FIG. 12 , the oil tank 36 is located near the front of the oil filler port 28 d of the housing 28 when the transmission unit 45 is attached to the mounting frame 26 .
As shown in FIGS. 12, 14, etc., the mounting frame 26 is provided with a connector 37 (hereinafter referred to as "first output connector 37"). The first output connector 37 and the generator 15 are connected by a conductive cable (not shown). Thereby, the power output from the generator 15 is led to the first output connector 37 via the conductive cable. The first output connector 37 is connectable with a cable (hereinafter referred to as “power supply cable”) for supplying power output from the generator 15 to the working device 3 . By connecting the power supply cable to the first output connector 37, the power output from the generator 15 can be output from the first output connector 37 via the power supply cable. FIG. 6 shows a state in which the power supply cable 95A is connected to the first output connector 37. As shown in FIG. The power supply cable 95A will be further described later.

The first output connector 37 is arranged between the first mounting portion 331 and the second mounting portion 332 . In other words, the first output connector 37 is arranged inside the outer surface of the mounting portion 33 (at a position that does not protrude from the outer surface). Specifically, the first output connector 37 is arranged between the first side plate 331b and the second side plate 332b. In this embodiment, the first output connector 37 is attached to the inner surface of the second side plate 332b. However, the first output connector 37 may be attached to other positions, such as the inner surface of the first side plate 331b, the first connecting portion 351, or the like.

The first output connector 37 is arranged above the generator unit 12 by being attached to the upper part of the inner surface of the second side plate 332b. The first output connector 37 is arranged such that a connecting portion 37a to which a power supply cable is connected faces upward. As a result, the power supply cable can be easily connected to the connecting portion 37a of the first output connector 37 from above. The connecting portion 37a is closed by a cover (not shown) when not in use.

As shown in FIGS. 9, 16, etc., a cover member 38 is attached to the mounting frame 26. As shown in FIG. The cover member 38 has one side plate 38a, the other side plate 38b, and an upper plate 38c. The one side plate 38a, the other side plate 38b, and the upper plate 38c are integrally formed of one plate (metal plate or the like). The one side plate 38a and the other side plate 38b are arranged with one surface facing left and the other surface facing right. The other surface (inner surface) of the one side plate 38a faces one surface (inner surface) of the other side plate 38b. The upper plate 38c connects the upper portion of the one side plate 38a and the upper portion of the other side plate 38b. A plurality (two) of first holes 38d are formed in the one side plate 38a at intervals in the vertical direction. A plurality (two) of second holes 38e are formed in the other side plate 38b at intervals in the vertical direction.

The cover member 38 is attached to the mounting frame 26 by stacking the first side plate 331b and the one side plate 38a and fastening them with bolts, and stacking the second side plate 332b and the other side plate 38b and fastening them with bolts. More specifically, as indicated by the dashed line L1 in FIG. 16, the first hole 38d and the first screw hole 331d are overlapped, the second hole 38e and the second screw hole 332d are overlapped, and the first hole 38d and the second screw hole 332d are overlapped. Bolts (not shown) are inserted through the second holes 38e and screwed into the first screw holes 331d and the second screw holes 332d, respectively. Thereby, the cover member 38 is attached to the attachment frame 26 as shown in FIG.

The cover member 38 protrudes rearward from the mounting frame 26 when attached to the mounting frame 26 . Moreover, the cover member 38 covers the periphery of the generator 15 when attached to the mounting frame 26 . Specifically, the one side plate 38 a covers one side (left side) of the generator 15 . The other side plate 38 b covers the other side (right side) of the generator 15 . The upper plate 38c covers the generator 15 from above. In other words, the cover member 38 covers the periphery of the generator 15 from three directions (leftward, rightward, and upward). Further, the cover member 38 also covers the periphery of the output shaft 24 projecting from the housing 28 from three directions (leftward, rightward, and upward). Accordingly, it is possible to prevent a worker or the like from unintentionally contacting the generator 15, the output shaft 24, or the like. Note that the cover member 38 may cover only a part of the generator 15 in the front-rear direction. As shown in FIG. 12 and the like, in the case of this embodiment, the cover member 38 covers the front portion of the generator 15 from the above three directions in the front-rear direction, but does not cover the rear portion. However, the cover member 38 covers the entire (full length) of the output shaft 24 projecting from the housing 28 from the above three directions in the front-rear direction.

Further, as shown in FIG. 10, when the cover member 38 is attached to the mounting frame 26, the first output connector 37 is arranged below the upper plate 38c. 12, the first output connector 37 is arranged between the cover member 38 and the second front plate 332a of the second mounting portion 332 in the front-rear direction. These configurations can prevent unintentional contact of an object or an operator with the first output connector 37 .

As shown in FIGS. 10 to 13, the generator unit 12 includes a control section 30 (hereinafter referred to as “first control section 30”) housed in a housing 39. As shown in FIG. The first control unit 30 is a computer including electronic/electric parts (CPU, storage device, etc.), and more specifically, an ECU. In the case of this embodiment, the first control unit 30 is provided in the generator unit 12, but may be provided in the tractor 2, or may be provided in both the tractor 2 and the generator unit 12. good. The first control unit 30 controls the output from the generator 15 based on the control signal from the vehicle-side ECU. In the case of this embodiment, the first control unit 30 and the vehicle-side ECU are provided separately, but the vehicle-side ECU may have the function of the first control unit 30 . Also, the first control unit 30 may control the output from the generator 15 without depending on the control signal from the vehicle-side ECU.

The first control unit 30 controls power output from the generator 15 to the first output connector 37 . Specifically, the first control unit 30 controls on/off of power output from the generator 15 to the first output connector 37 . Also, the first control unit 30 may control the increase or decrease in power output from the generator 15 to the first output connector 37 .
The first controller 30 is housed in a housing 39 and attached to the mounting frame 26 . Specifically, the housing 39 that houses the first controller 30 is attached to the second side plate 332 b of the second mounting portion 332 . In addition, in the case of this embodiment, the housing 39 is attached to the outer surface of the second side plate 332b, but may be attached to the outer surface of the first side plate 331b. Further, the housing 39 may be attached to the inner surface of the second side plate 332b, the inner surface of the first side plate 331b, or the connecting portion 35. In this case, the first control section 30 is arranged between the first mounting section 331 and the second mounting section 332 .

As shown in FIG. 14 , the generator unit 12 is constructed by mounting the transmission unit 45 on the mounting frame 26 . The transmission unit 45 is attached to the mounting frame 26 by overlapping the first mounting portion 341 and the first projecting portion 28e and fastening them with fasteners, and overlapping the second mounting portion 342 and the second projecting portion 28f and fastening them with fasteners. It is done by Specifically, as shown by a dashed line L2 in FIG. 14, the first through hole 28g and the first mounting hole 341a are superimposed, the second through hole 28h and the second mounting hole 342a are superimposed, and the A bolt (not shown) is inserted into each hole and a nut (not shown) is screwed. Thereby, the transmission unit 45 is attached to the attachment frame 26 as shown in FIG. 10 and the like.

As shown in FIG. 10 and the like, when the transmission unit 45 is attached to the mounting frame 26, the transmission unit 45 is arranged between the first side plate 331b and the second side plate 332b. Also, the generator 15 and the input shaft 24 are arranged between the first mounting portion 331 and the second mounting portion 332 .
As shown in FIGS. 7, 8, etc., the generator unit 12 is attached to the tractor 2 . Specifically, the generator unit 12 is attached to the rear portion of the transmission case 10 of the tractor 2 . The generator unit 12 is mounted on the mission case 10 by forming a first mounting hole 331c and a second mounting hole 332c formed in the mounting frame 26 on the rear surface of the transmission case 10, as indicated by a dashed line L3 in FIG. A bolt (not shown) is inserted through the first mounting hole 331c and the second mounting hole 332c and screwed into the screw hole 10a. As a result, the mounting frame 26 is attached to the rear surface of the transmission case 10 and the generator unit 12 is attached to the tractor 2 . Note that in FIG. 8, only a portion (only a visible portion) of the dashed line L3 representing the overlapping of the first mounting hole 331c, the second mounting hole 332c, and the screw hole 10a is shown. The number of overlapping portions of the first mounting holes 331c and the second mounting holes 332c and the screw holes 10a matches the total number of the first mounting holes 331c and the second mounting holes 332c. In the case of the present embodiment, there are a total of 10 overlapping locations (five locations on the first mounting portion 331 side and five locations on the second mounting portion 332 side).

As indicated by a dashed line L4 in FIG. 8, the PTO shaft 19 (PTO output shaft 19b) protruding from the transmission case 10 and the input shaft 24 of the generator unit 12 are arranged on the same straight line. As a result, when the generator unit 12 is attached to the mission case 10, the PTO shaft 19 (PTO output shaft 19b) protruding from the mission case 10 is connected to the first connection portion 24a of the input shaft 24 of the generator unit 12. are connected (see FIG. 15).

The generator unit 12 can be easily attached to and detached from the transmission case 10 by attaching and detaching bolts that fasten the attachment frame 26 and the transmission case 10 . By attaching/detaching the generator unit 12 to/from the mission case 10 , the generator 15 can be attached/detached to/from the mission case 10 . Therefore, even if the tractor 2 does not have the generator 15, the generator 15 can be easily mounted as required. By mounting the generator unit 12 on the tractor 2 , it is possible to supply power from the tractor 2 to the motor 23 of the working device 3 to drive the motor 23 .

Next, the positional relationship and the like between the generator unit 12 and the connecting device 6 when the generator unit 12 is attached to the transmission case 10 will be described.
As shown in FIG. 7 , the coupling device 6 is connected to the rear portion of the transmission case 10 . The coupling device 6 has a lift arm 6A, a three-point link mechanism 6B, and a shift cylinder 6C.

The lift arm 6A includes a first lift arm 6AL and a second lift arm 6AR. The first lift arm 6AL is arranged on one side (left side) in the width direction of the vehicle. The second lift arm 6AR is arranged on the other side (right side) in the vehicle width direction. The front ends of the first lift arm 6AL and the second lift arm 6AR are pivotally supported by a horizontal shaft 6D supported on the top of the transmission case 10, and extend rearward.

The three-point link mechanism 6B has a top link 6B1, a lower link 6B2 and a lift rod 6B3. The top link 6B1 is arranged between the first lift arm 6AL and the second lift arm 6AR, and its front end is pivotally supported by the first pivotal support portion 10b provided on the top of the transmission case 10. As shown in FIG. Lower link 6B2 includes a first lower link 6B2L and a second lower link 6B2R. The front end portions of the first lower link 6B2L and the second lower link 6B2R are pivotally supported by second pivotal support portions 10c provided at the lower left and lower right portions of the transmission case 10, respectively. The lift rods 6B3 include a first lift rod 6B3L and a second lift rod 6B3R. The first lift rod 6B3L has an upper end connected to the rear end of the first lift arm 6AL, and a lower end connected to a lengthwise middle portion of the first lower link 6B2L. The second lift rod 6B3R has an upper end connected to the rear end of the second lift arm 6AR, and a lower end connected to a lengthwise middle portion of the second lower link 6B2R.

The rear end of the top link 6B1 and the rear end of the lower link 6B2 are provided with a joint capable of connecting the working device 3. As shown in FIG. By connecting the working device 3 to the rear end portion of the top link 6B1 and the rear end portion of the lower link 6B2, the working device 3 is connected to the rear portion of the tractor 2 so as to be able to move up and down.
The lift cylinder 6C is a hydraulic cylinder. The lift cylinders 6C include a first lift cylinder 6CL and a second lift cylinder 6CR. The first lift cylinder 6CL has one end connected to the first lift arm 6AL and the other end connected to the lower left portion of the mission case 10 . The second lift cylinder 6CR has one end connected to the second lift arm 6AR and the other end connected to the lower right portion of the mission case 10 . By driving the lift cylinder 6C, the first lift arm 6AL and the second lift arm 6AR rotate about the horizontal shaft 6D and swing vertically. Electromagnetic control valves are connected to the first lift cylinder 6CL and the second lift cylinder 6CR. The electromagnetic control valve can drive (extend and contract) the first lift cylinder 6CL and the second lift cylinder 6CR based on a control signal from the control unit (vehicle side ECU).

By driving the lift cylinder 6C, it is possible to adjust the height of the working device 3 and the inclination in the vehicle width direction (difference between the height of the right portion and the height of the left portion). When adjusting the height, both the first lift cylinder 6CL and the second lift cylinder 6CR are similarly driven. When adjusting the tilt, either the first lift cylinder 6CL or the second lift cylinder 6CR is driven. Specifically, the lift cylinder arranged on the lower side of the working device 3 is extended or the lift cylinder arranged on the higher side is driven to shorten.

The generator unit 12 is arranged between the first lift arm 6AL and the second lift arm 6AR in the vehicle width direction. In addition, the generator unit 12 is arranged between the first lift rod 6B3L and the second lift rod 6B3R in the vehicle width direction. Further, the generator unit 12 is arranged between the first lower link 6B2L and the second lower link 6B2R in the vehicle width direction. In other words, the first mounting portion 331 of the generator unit 12 is arranged to the right (inward in the vehicle width direction) of the first lift arm 6AL, the first lift rod 6B3L, and the first lower link 6B2L. ing. The second mounting portion 332 is arranged to the left (inward in the vehicle width direction) of the second lift arm 6AR, the second lift rod 6B3R, and the second lower link 6B2R. Thereby, interference between the generator unit 12, the lift arm 6A, the lift rod 6B3, and the lower link 6B2 can be avoided.

Further, the generator unit 12 is arranged below the first pivotal support portion 26 that pivotally supports the front end portion of the top link 6B1. This prevents the swinging portion of the top link 6B1 from interfering with the generator unit 12. FIG. Moreover, the upper side of the generator 15 is covered with the upper plate 38 c of the cover member 38 . The upper plate 38c covers the upper side of the generator unit 12 below the first pivotal support portion 26 that pivotally supports the front end portion of the top link 6B1. Thereby, interference between the generator 15 and the top link 6B1 can be avoided.

<Work device>
Next, the work device 3 will be described.
The work device 3 is a device that performs farm work. In other words, the work device 3 is a device that performs work on a field. The work device 3 is driven by electric power supplied from the tractor 2 to which the generator unit 12 is attached. As the work device 3, one that can operate at a low voltage of 60 V or less is preferably used. Moreover, the work device 3 may be operable at a low voltage of 48V or less. Specifically, as the working device 3, a spraying device for spraying a sprayed material in a field, a sowing device for sowing seeds in a field, a shaping device (baler) for collecting and shaping harvested crops (grass etc.), etc. are suitable. used. As the spraying device, a fertilizer spraying device (spreader) for spraying fertilizer on a field, a chemical spraying device (sprayer) for spraying a chemical (chemical liquid) on a field, or the like is used. As the sowing device, for example, a seeder such as a drill seeder that sows seeds in rows, a planter that sows seeds at regular intervals, and the like are used. In the case of the present embodiment, the working device 3 is a spraying device, and therefore the working device 3 will be described below as the spraying device 3 .

As shown in FIGS. 1 and 2 , the spraying device 3 includes a container 31 and a spraying portion 32 .
The storage unit 31 stores a spread material (fertilizer, agricultural chemicals, etc.) to be sprayed on the field.
The container 31 is composed of a substantially inverted pyramid-shaped hopper. The hoppers include a first hopper 31A and a second hopper 31B. The first hopper 31A is arranged on one side (left side) in the vehicle width direction. The second hopper 31B is arranged on the other side (right side) in the vehicle width direction. However, the number of hoppers is not limited. The storage part 31 has an inlet for the sprayed material at its upper end and an outlet for taking out the sprayed material at its lower end. Although the number of outlets is not limited, in the case of this embodiment, it is set according to the number of rotating bodies (disks) 40 to be described later. Specifically, the number of rotating bodies 40 is two, and the number of outlets is also two. Incidentally, the number of rotating bodies 40 may be two and the number of outlets may be one.

The spraying part 32 is a working part of the working device 3, and rotates to perform agricultural work (spreading of sprayed materials such as fertilizers and chemicals). The spraying unit 32 sprays the material to be sprayed stored in the storage unit 31 . As shown in FIGS. 1 and 4 , the spraying section 32 is provided below the storage section 31 . The spraying section 32 includes at least two spraying sections. It is preferable that all of the at least two or more spraying portions have different spraying directions, but they may include spraying portions that have the same spraying direction.

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

The first spraying portion 321 is arranged on one side (left side) in the width direction of the vehicle. The second spraying portion 322 is arranged on the other side (right side) in the vehicle width direction. As shown in FIGS. 2 and 4, the first spraying section 321 has a first rotor 410 and a first shutter device 411 .
The first rotating body 410 is disc-shaped and rotates around a central axis 40a extending in the vertical direction (vertical direction). A plurality of rotor blades (blade members) 40 b are attached to the upper surface of the first rotor 410 . The rotor blade 40b rotates together with the first rotating body 410 around the central axis 40a. The plurality of rotor blades 40b are circumferentially spaced apart and extend radially outward from the vicinity of the central axis 40a. By rotating around the central axis 40a, the first rotating body 410 hits the scattering material falling from the first outlet 71 against the rotating blades 40b and scatters them radially outward (in the radially outward direction). .

The first shutter device 411 has a shutter and an electric motor (not shown). The shutter is attached to one outlet (first outlet) 311 of the housing portion 31, and can change the area (opening degree) of the first outlet 311 by moving. The electric motor is a stepping motor or the like, and is connected to the shutter. The first shutter device 411 changes the opening degree of the first outlet 311 by moving the shutter by driving the electric motor. As a result, the amount of the material to be spread by the first spreading section 321 is adjusted.

The second spraying section 322 has a second rotating body 420 and a second shutter device 421 . Since the configuration of the second rotating body 420 is the same as that of the first rotating body 410, the description thereof is omitted. The configuration of the second shutter device 421 is the same as that of the first shutter device 411 except that the shutter is attached to the other outlet (second outlet) 312 of the housing portion 31 . The second shutter device 421 can adjust the amount of the material to be spread by the second sprinkling section 322 by changing the degree of opening of the second outlet 312 .

As shown in FIG. 2, the first rotating body 410 and the second rotating body 420 are provided side by side in the vehicle width direction. As shown in FIG. 2, the first rotating body 410 and the second rotating body 420 rotate in different directions. In the case of this embodiment, as indicated by the black arrows in FIG. 2, the first rotating body 410 rotates clockwise and the second rotating body 420 rotates counterclockwise in plan view.

The first rotating body 410 is arranged below the first outlet 311 of the housing portion 31 . The material to be spread that has fallen from the first outlet 311 is spread by the rotating first rotating body 410 . The second rotating body 420 is arranged below the second outlet 312 of the housing portion 31 . The material to be spread that has fallen from the second outlet 312 is spread by the rotating second rotating body 420 .
In the case of this embodiment, the spraying directions of the first spraying section 321 and the second spraying section 322 are different. The spraying direction of the first spraying portion 321 is one side and rearward in the vehicle width direction. The spraying direction of the second spraying portion 322 is the other side and the rear side of the vehicle width direction. As indicated by the white arrows in FIG. 2, in the case of the present embodiment, the main spraying directions of the first spraying section 321 are leftward and rearward left, and the main spraying directions of the second spraying section 322 are rightward and rearward right. is. The direction indicated by the white arrow is the main dispersal direction, and in practice, the powder is spread in a fan shape including the direction indicated by the white arrow.

<Power transmission mechanism>
As shown in FIGS. 1, 2, and 4, the spraying device 3 includes a power transmission mechanism 50. As shown in FIGS. The power transmission mechanism 50 receives power generated by driving the motor 23 and power supplied from the engine 11 , and transmits the input power to the spraying section (working section) 32 . Specifically, the power transmission mechanism 50 is a mechanism capable of transmitting power from the motor 23 and power from the PTO shaft 19 to the first rotating body 410 and the second rotating body 420 .

The power transmission mechanism 50 will be described below with reference to FIG. 17 . However, the power transmission mechanism 50 shown in FIG. 17 is an example, and the configuration of the power transmission mechanism 50 is not limited.
FIG. 17 shows the configuration of the driving section 49 including the power transmission mechanism 50. As shown in FIG. The drive unit 49 has a first drive source 48A, a third drive source 48C, and a power transmission mechanism 50. As shown in FIG. The drive unit 49 is provided in the spraying device 3 and drives the spraying unit 32 .

The spraying unit 32 is driven by power from drive sources (first drive source 48A, third drive source 48C) included in the drive unit 49 and another drive source (second drive source 48B) provided in the tractor 2. be done.
The first drive source 48</b>A and the third drive source 48</b>C are variable-speed drive sources included in the drive section 49 of the spraying device 3 . In the case of this embodiment, the first drive source 48A and the third drive source 48C are a first motor 231 and a second motor 232 driven by power from the generator 15, respectively. The second drive source 48B is the engine 11 provided in the tractor 2 .

The power transmission mechanism 50 can transmit the power from the first drive source 48A and the power from the second drive source 48B to the rotating bodies (the first rotating body 410 and the second rotating body 420) of the spraying section 32. Specifically, the power transmission mechanism 50 can transmit the power of the first drive source 48A to the first rotor 410 and the second rotor 420, and transmit the power of the second drive source 48B to the first rotor 410 and the second rotor 410. It can be transmitted to the rotating body 420 . The third drive source 48C is a drive source mainly used to change the rotational speeds of the first rotating body 410 and the second rotating body 420 .

The power transmission mechanism 50 has an input transmission portion 51 and a first planetary gear mechanism 52 .
The input transmission unit 51 transmits power input from the first drive source 48A (first motor 231) and power input from the second drive source 48B (engine 11) to the first planetary gear mechanism 52. . The input transmission section 51 has a first input gear 53 , a second input gear 54 , a third input gear 55 , a fourth input gear 56 , a first shaft 57 , a second shaft 58 and a third shaft 59 . The first input gear 53 is connected to the output shaft of the first motor 231 and is driven by the first motor 231 to rotate. The second input gear 54 meshes with the first input gear 53 and rotates as the first input gear 53 rotates. One end side of the first shaft 57 is connected to the center of the second input gear 54 . One end side of the second shaft 58 is connected to the center of the third input gear 55 . The other end side of the second shaft 58 is connected to the second connecting portion 24b (see FIG. 15) of the input shaft 24 via a connector (universal joint or the like). Rotational power from the engine 11 is input to the input shaft 24 via the PTO output shaft 19b. Rotational power inputted to the input shaft 24 is branched and transmitted to two paths via the transmission mechanism 25 shown in FIG. One side of the branched rotational power is transmitted to the generator 15 , and the other side is transmitted to the second shaft 58 from the second connection portion 24 b of the input shaft 24 .

The fourth input gear 56 meshes with the third input gear 55 and rotates as the third input gear 55 rotates. One end of a third shaft 59 is connected to the fourth input gear 56 .
The first planetary gear mechanism 52 has a first sun gear 60 , a first planetary gear 61 , a first planetary carrier 62 and a first internal gear 63 . The first sun gear 60 meshes with the first planetary gear 61 . The first planetary gear 61 is rotatably supported by the first planetary carrier 62 and can rotate (revolve) around the first sun gear 60 . The first planetary carrier 62 rotates as the first planetary gear 61 rotates (revolves). The first internal gear 63 meshes with the first planetary gear 61 . The other end side of the third shaft 59 is connected to the first planetary gear 61 . As a result, the first planetary gear 61 rotates (revolves) around the first sun gear 60 as the fourth input gear 56 rotates, and the first internal gear 63 rotates as the first planetary gear 61 rotates. do.

An output transmission shaft 64 that outputs power from the first planetary gear mechanism 52 is connected to the first planetary gear mechanism 52 . One end of the output transmission shaft 64 is connected to the center of the first internal gear 63 . The other end side of the output transmission shaft 64 is connected to a separation transmission portion 65 which will be described later. Thereby, the power output from the first planetary gear mechanism 52 to the output transmission shaft 64 is transmitted to the separation transmission portion 65 .

The separation transmission portion 65 separates and transmits the power output from the output transmission shaft 64 to one and the other. The separation transmission part 65 has a first transmission gear 66 , a second transmission gear 67 , one transmission shaft 68 and the other transmission shaft 69 . The other end side of the output transmission shaft 64 is connected to the center of the first transmission gear 66 . The second transmission gear 67 meshes with the first transmission gear 66 . The gears (the first transmission gear 66 and the second transmission gear 67) forming the separation transmission portion 65 are both bevel gears. The direction of the rotation axis of the first transmission gear 66 crosses (perpendicularly) the direction of the rotation axis of the second transmission gear 67 .

One end side of one transmission shaft 68 and one end side of the other transmission shaft 69 are connected to the second transmission gear 67, respectively. The one transmission shaft 68 and the other transmission shaft 69 extend from the center of the second transmission gear 67 in opposite directions. As a result, the power output from the output transmission shaft 64 is separately transmitted from the second transmission gear 67 to the one transmission shaft 68 (one side) and the other transmission shaft 69 (the other side) in the separation transmission portion 65 .

The one transmission shaft 68 is connected to the first power transmission section 70 .
The first power transmission portion 70 transmits the power transmitted to one side (the one transmission shaft 68 ) from the separation transmission portion 65 to the first rotating body 410 . The first power transmission section 70 has a transmission section 71 , a transmission shaft 72 , a third transmission gear 73 and a fourth transmission gear 74 .
The transmission portion 71 includes a third drive source 48C (second motor 232). The speed changing portion 71 changes the rotational speed of the first rotating body 410 or the second rotating body 420 according to the speed change of the third drive source 48C. The transmission unit 71 has a second planetary gear mechanism 75 and a drive gear 76 .

The second planetary gear mechanism 75 has a second sun gear 77 , a second planetary gear 78 , a second planetary carrier 79 and a second internal gear 80 .
The second sun gear 77 meshes with the second planetary gear 78 . The second sun gear 77 is connected to the separation transmission portion 65 . Specifically, the other end side of the one transmission shaft 68 is connected to the center of the second sun gear 77 . The second planetary gear 78 meshes with the second sun gear 77 . The second planetary gear 78 is rotatably supported by a second planetary carrier 79 and can rotate (revolve) around the second sun gear 77 . The second planetary carrier 79 rotates as the second planetary gear 78 rotates (revolves).

The second internal gear 80 has internal teeth formed on the inner peripheral surface and external teeth formed on the outer peripheral surface. The internal teeth mesh with the second planetary gear 78 . The external teeth mesh with the intermediate gear 81 . The relay gear 81 meshes with the drive gear 76 that rotates by power from the third drive source 48C.
One end of the transmission shaft 72 is connected to the second planetary carrier 79 . The other end of the transmission shaft 72 is connected to the center of the third transmission gear 73 . The fourth transmission gear 74 meshes with the third transmission gear 73 . The direction of the rotation axis of the fourth transmission gear 74 crosses (perpendicularly) the direction of the rotation axis of the third transmission gear 73 . The center of the fourth transmission gear 74 is connected to the central axis of the first rotor 410 . Thereby, the rotational power of the fourth transmission gear 74 is transmitted to the first rotor 410 .

The second sun gear 77 can transmit power to the second rotor 420 via the separation transmission portion 65 . The second planetary gear 78 can transmit power to the first rotating body 410 via the second planetary carrier 79 and the transmission shaft 72 .
One end of the transmission shaft 72 is connected to the center of the second sun gear 77 , the other end of the transmission shaft 72 is connected to the center of the third transmission gear 73 , and one transmission shaft 68 is connected to the second planetary carrier 79 . The other end side may be connected, and one end side of one transmission shaft 68 may be connected to the second transmission gear 67 . In this case, the second planetary gear 78 can transmit power to the second rotating body 420 via the second planetary carrier 79 and the separation transmission portion 65, and the second sun gear 77 can rotate the first rotation via the transmission shaft 72. Power can be transmitted to body 410 .

The other transmission shaft 69 is connected to the second power transmission portion 82 .
The second power transmission portion 82 can transmit the power transmitted from the separation transmission portion 65 to the other side (the other side transmission shaft 69 ) to the second rotating body 420 .
The second power transmission section 82 has a fifth transmission gear 83 and a sixth transmission gear 84 . The gears (the fifth transmission gear 83 and the sixth transmission gear 84) forming the second power transmission section 82 are all bevel gears.

The other end side of the other transmission shaft 69 is connected to the center of the fifth transmission gear 83 . The sixth transmission gear 84 meshes with the fifth transmission gear 83 . The direction of the rotation axis of the sixth transmission gear 84 crosses (perpendicularly) the direction of the rotation axis of the fifth transmission gear 83 . The center of the sixth transmission gear 84 is connected to the central axis of the second rotor 420 .
In the first planetary gear mechanism 52 , the first planetary carrier 62 connected to the third shaft 59 is a first input portion to which power from the engine 11 is input via the PTO shaft 19 . A first sun gear 60 connected to the first shaft 57 is a second input portion to which power generated by driving the motor 23 is input. In the power transmission mechanism 50 , the output transmission shaft 64 , the separation transmission portion 65 , the first power transmission portion 70 , and the second power transmission portion 82 are connected from the first planetary gear mechanism 52 to the spreading portion (working portion) 32 . It is an output part that outputs power by

The action (operation) of the drive unit 49 will be described below.
Power from the first drive source 48A (first motor 231) is input to the first planetary gear mechanism 52 via the input transmission section 51. As shown in FIG. Power from the second drive source 48B (engine 11) is input to the first planetary gear mechanism 52 via the PTO output shaft 19b, the input shaft 24, the second shaft 58, and the input transmission portion 51.

The power input to the first planetary gear mechanism 52 is output from the output transmission shaft 64 and transmitted to the separation transmission portion 65 . The separation transmission portion 65 separates and transmits the power output from the output transmission shaft 64 to one side (one side transmission shaft 68) and the other side (the other side transmission shaft 69). That is, the separation transmission part 65 separates and transmits the power from the first drive source 48A and the power from the second drive source 48B to one and the other.

The power transmitted from the separation transmission portion 65 to one side (the one transmission shaft 68 ) is transmitted to the first rotating body 410 via the first power transmission portion 70 . The power transmitted from the separation transmission portion 65 to the other (the other transmission shaft 69 ) is transmitted to the second rotating body 420 via the second power transmission portion 82 .
Therefore, the first rotating body 410 and the second rotating body 420 can be rotated by the power from the first drive source 48A (the first motor 231). Further, the first rotating body 410 and the second rotating body 420 can be rotated by power from the second drive source 48B (engine 11). That is, the power of either the first drive source 48A or the second drive source 48B can be used to rotate the first rotor 410 and the second rotor 420 . Also, the power of both the first drive source 48A and the second drive source 48B can be used to rotate the first rotating body 410 and the second rotating body 420. FIG. In addition, since the first drive source 48A is variable speed, the rotational speeds of the first rotor 410 and the second rotor 420 can be changed by changing the speed of the first drive source 48A.

Furthermore, since the power transmission mechanism 50 has the speed changer 71 , the driving section 49 can vary the rotational speed of the first rotating body 410 and the rotating speed of the second rotating body 420 .
The action of the transmission portion 71 will be described below.
When the third drive source 48C (second motor 232) of the transmission section 71 is driven, power from the third drive source 48C is transmitted to the external teeth of the second internal gear 80 via the drive gear 76 and the intermediate gear 81. be done. Therefore, when the third drive source 48C is driven, the second internal gear 80 rotates. Rotation of the second internal gear 80 is transmitted to the second planetary gear 78 via the internal teeth of the second internal gear 80, and the second planetary gear 78 rotates. As the second planetary gear 78 rotates, the second planetary carrier 79 rotates, and the power of the rotation is transmitted to the first rotor 410 via the transmission shaft 72, the third transmission gear 73, and the fourth transmission gear 74. be done.

Thus, the power from the transmission portion 71 including the third drive source 48C is transmitted to the first rotating body 410. As shown in FIG. Therefore, the rotation speed of the first rotating body 410 can be changed according to the speed change of the third drive source 48C. Thereby, the rotation speed of the first rotor 410 and the rotation speed of the second rotor 420 can be made different.
Further, the transmission portion 71 is provided in the second power transmission portion 82, and the power from the third drive source 48C is transmitted to the transmission portion 71 (the external teeth of the second internal gear 80) of the second power transmission portion 82. good too. When this configuration is adopted, the rotation speed of the second rotating body 420 can be changed according to the speed change of the third drive source 48C. This configuration also allows the rotation speed of the first rotor 410 and the rotation speed of the second rotor 420 to be different.

As a modified example of the driving portion 49, a switching portion can be provided in the first power transmission portion 70 or the second power transmission portion 82. FIG. The switching unit is composed of, for example, a clutch or the like that can be switched by an operating lever or the like. Preferably, the switching unit is composed of an electric clutch, but may be composed of a mechanical clutch. When a switching portion is provided in the first power transmission portion 70 , the switching portion is provided, for example, in the middle of the one transmission shaft 68 . When a switching portion is provided in the second power transmission portion 82 , the switching portion is provided, for example, in the middle of the other transmission shaft 69 .

The switching portion provided in the first power transmission portion 70 has a first state in which the power transmitted from the separation transmission portion 65 to one side (one transmission shaft 68) is transmitted to the first rotating body 410, and a state in which the power is transmitted to the first rotating body 410. It is possible to switch to a second state in which transmission is not performed. The switching portion provided in the second power transmission portion 82 has a first state in which the power transmitted from the separation transmission portion 65 to the other side (the other transmission shaft 69) is transmitted to the second rotating body 420, and a state in which the power is transmitted to the second rotating body 420. It is possible to switch to a second state in which transmission is not performed.
By providing the switching portion in the first power transmission portion 70 or the second power transmission portion 82, either the first rotating body 410 or the second rotating body 420 can be rotated without stopping the rotation of the PTO shaft 19. can be stopped.

<Regenerative power processing unit>
As shown in FIGS. 18 and 19 , the spraying device (working device) 3 has a regenerative power processing section 89 for processing (consuming) regenerative power (rotational power) generated by the motor 23 . The motor 23 whose regenerative power is processed by the regenerative power processing unit 89 may be the first motor 231, the second motor 232, or both the first motor 231 and the second motor 232. There may be.
The regenerative power processing section 89 has a motor 23 , an inverter 22 , a power transmission mechanism 50 and a processing circuit 90 . The processing circuit 90 has a regeneration resistor (register) 91, a switching section 92, a control section 93 (hereinafter referred to as a "second control section 93"), and wiring 94 capable of transmitting electrical signals.

The motor 23 is connected to the power supply cable 95A connected to the first output connector 37 via the inverter 22, and receives power (DC power) from the generator 15 via the inverter 22 to drive. The motor 23 is an AC motor (three-phase AC motor). The inverter 22 receives and converts the power (DC power) output from the generator 15 and outputs an AC voltage to the motor 23 . However, the generator 15 may output AC power, and the inverter 22 receiving the AC power may output AC voltage to the motor 23 . The inverter 22 controls driving (speed etc.) of the motor 23 . The power transmission mechanism 50 has, for example, the configuration shown in FIG. Power is transmitted to the spraying section (working section) 32 .

The regenerative resistor 91 consumes regenerative power generated in the motor 23 . The regenerative resistor 91 is a device that converts regenerative power (regenerative electric power) into heat and consumes the heat. As the regenerative resistor 91, for example, a cement resistor, an enameled resistor, or the like is used, but the resistor is not limited to these. The regenerative resistor 91 used has a rated power consumption larger than the maximum value of regenerative power (regenerative power). However, the rated power consumption of the regenerative resistor 91 is preferably a value close to the maximum value of regenerative power (a value that does not greatly exceed the maximum value).

The switching unit 92 switches between a connection state and a disconnection state between the motor 23 and the regenerative resistor 91 . Specifically, the switching unit 92 switches between a connection state and a disconnection state between the power supply cable 95A (first wiring 941) that supplies power to the motor 23 and the regeneration resistor 91. FIG. The switching unit 92 is composed of a relay (relay) in the case of this embodiment. However, the switching unit 92 is not limited to a relay, and may be, for example, a switching element (ECU).

The second control section 93 controls driving of the motor 23 . Also, the second control section 93 controls the switching operation of the switching section 92 . The control of driving the motor 23 executed by the second control unit 93 includes commanding the rotation speed (torque) of the motor 23 to the inverter 22 and monitoring the rotation speed (torque) of the motor 23 . The second control unit 93 is a computer including electronic/electric components (CPU, storage device, etc.) housed in a housing, and is specifically an ECU. The second control unit 93 is connected to the vehicle-side ECU via the ISOBUS. The second control unit 93 controls the driving of the motor 23 and the switching operation of the switching unit 92 based on the control signal from the vehicle-side ECU.

In this embodiment, the second control section 93 is provided in the spraying device 3 separately from the inverter 22 , but the inverter 22 may have the function of the second control section 93 . Also, the vehicle-side ECU may have the function of the second control section 93 . Also, the first control unit 30 may have the function of the second control unit 93 . Further, the second control section 93 may control the driving of the motor 23 and the switching operation of the switching section 92 without depending on the control signal from the vehicle-side ECU.

The wiring 94 includes a first wiring 941 , a second wiring 942 , a third wiring 943 , a fourth wiring 944 , a fifth wiring 945 , a sixth wiring 946 and a seventh wiring 947 . A first wiring 941 connects the inverter 22 and the first output connector 37 . The first wiring 941 is composed of the power supply cable 95A described above, and includes a positive wiring and a negative wiring. The first wiring 941 constitutes a power supply circuit that is connected to the inverter 22 and supplies power to the motor 23 via the inverter 22 . Hereinafter, the first wiring 941 may be referred to as a "power supply circuit 941". The second wiring 942 has one end connected to the middle portion of one (plus side) wiring of the first wiring 941 and the other end connected to one end of the regenerative resistor 91 . The third wiring 943 has one end connected to the other end of the regenerative resistor 91 and the other end connected to one contact of the switching unit (relay) 92 . The fourth wiring 944 has one end connected to the other contact of the switching unit 92 and the other end connected to the middle portion of the other (negative) wiring of the first wiring 941 . The fifth wiring 945 connects the second control section 93 with a switch that connects or disconnects one contact and the other contact of the switching section 92 . The sixth wiring 946 connects the second control section 93 and the inverter 22, and is composed of, for example, a CAN (Controller Area Network). A seventh wiring 947 connects the inverter 22 and the motor 23 .

A control signal from the second control section 93 is transmitted to the switching section 92 via the fifth wiring 945 . Thereby, the connection state and the disconnection state of the switching unit 92 can be switched. Also, the control signal from the second control unit 93 is transmitted to the inverter 22 via the sixth wiring 946 . Thereby, driving of the motor 23 can be controlled via the inverter 22 .
As described above, the power transmission mechanism 50 receives power generated by driving the motor 23 and power supplied from the engine 11 (power from the PTO shaft 19), and transmits the input power to the spraying section (working section). 32. Here, depending on the state of the load on the spraying section 32 (for example, the number of revolutions of the first rotating body 410 or the second rotating body 420), negative torque is applied to the motor 23 to generate regenerative power (regenerative electric power). When regenerative power is generated in the motor 23, desired rotational output cannot be obtained unless the regenerative power is consumed. In particular, when the rotation speed of the PTO shaft 19 (PTO output shaft 19b) is constant and the rotation speed of the motor 23 is changed to change the rotation speed of the first rotating body 410 or the second rotating body 420, the motor 23 is supplied with regenerative power. (regenerative power) may occur. The regenerative power processing unit 89 processes (consumes) the generated regenerative power.

However, the spraying section (working section) 32 may be driven only by the power generated by driving the motor 23 without using the power supplied from the engine 11 (the power from the PTO shaft 19). . In this case, the power transmission mechanism 50 serves as a mechanism to which only the power generated by driving the motor 23 is input and which transmits the input power to the spraying section (working section) 32 .
A method (processing operation) for processing regenerative power by the regenerative power processing unit 89 will be described below.

The second control unit 93 switches the switching unit 92 to the connected state when regenerative power is generated, and switches the switching unit 92 to the disconnected state when the regenerative power disappears. Specifically, the second control unit 93 switches the switching unit 92 to the connected state at the output rotation (output rotation speed of the motor 23) immediately before the regenerative power is generated, and switches the switching unit 92 to the connected state at the output rotation immediately after the regenerative power is generated. to the connected state.

When the switching unit 92 is switched to the connected state, the current generated by the regenerative power (regenerative electric power) generated in the motor 23 flows through the inverter 22 , the fourth wiring 944 and the switching unit 92 to the regenerative resistor 91 . The regenerative resistor 91 consumes power by generating heat. As a result, the regenerative power generated in the motor 23 is consumed, and a desired rotation output can be obtained. On the other hand, when the regenerative power disappears, the switching unit 92 is switched to the cut-off state, so that no current flows from the motor 23 side to the regenerative resistor 91 .

The spraying device (working device) 3 can process (consume) the regenerative power generated by the motor 23 by having the above-described regenerative power processing unit 89 . Therefore, regenerative power can be processed (consumed) even when an alternator is used as the generator 15 instead of a motor generator. When a motor generator is used as the power generator 15, regenerative power can be processed by the motor generator generating power.

In this embodiment, the motor 23 includes a plurality of motors (first motor 231 and second motor 232). In this case, the second control unit 93 switches the switching unit 92 to the connected state when regenerative power is generated in at least one of the plurality of motors (at least one of the first motor 231 and the second motor 232). A configuration for performing control (hereinafter referred to as “first configuration”) can be employed.

In addition, the second control unit 93 has a configuration (hereinafter referred to as , referred to as a “second configuration”).
Further, the second control unit 93 controls when regenerative power is generated in all of the plurality of motors (both the first motor 231 and the second motor 232) (hereinafter referred to as “first condition”) and when the plurality of motors One of the motors (for example, the first motor 231) generates regenerative power, the other motor (for example, the second motor 232) generates power action, and the one motor generates regenerative power. It is also possible to adopt a configuration (hereinafter referred to as "third configuration") that performs control to switch the switching unit 92 to the connected state when the power action force generated in the motor is exceeded (hereinafter referred to as "second condition"). can. That is, the second control unit 93 performs control to switch the switching unit 92 to the connected state when both the first condition and the second condition are satisfied. That is, the third configuration switches the switching unit 92 to the connected state when the total value of the actual required powers of the plurality of motors (the first motor 231 and the second motor 232) is negative, so that the actual required powers of the plurality of motors It is configured to perform control to switch the switching unit 92 to the cutoff state when the sum value is positive.

Further, the second control unit 93 switches the switching unit 92 to the connected state when transmitting a reverse rotation command to at least one of the plurality of motors (at least one of the first motor 231 and the second motor 232). A configuration for performing switching control (hereinafter referred to as a “fourth configuration”) can also be employed.
A method (processing operation) for processing regenerative power by the above-described regenerative power processing unit 89 will be described below with specific examples. A specific example is an example in which the work device is the spraying device 3 having the drive unit 49 shown in FIG. 17 and the drive unit 49 satisfies the following conditions (hereinafter referred to as "setting conditions").

・ωM1:ωA1=42:104=1:2.476
・ωM2:ωC2=77:120=1:1.558
・ωPTO:ωS1=59:58=1:0.983
・ωC1:ωA2=18:14=1:0.778
・ωA2:ωB2=41:12=1:0.293
・ωS2:ωB1=14:27=1:1.929
・ZC1/ZA1=63/27=2.333
・ZC2/ZA2=96/48=2.0

However, ωM1: rotational speed of first motor 231, ωM2: rotational speed of second motor 232, ωA1: rotational speed of first sun gear 60 (second input gear 54), ωA2: second sun gear 77 (second ωB1: rotation speed of the first rotor 410; ωB2: rotation speed of the second rotor 420; ωS1: rotation speed of the first planetary carrier 62 (fourth input gear 56); ωC1: rotation speed of the first internal gear 63 (first transmission gear 66); ωC2: rotation speed of the second internal gear 80; ωPTO: rotation speed of the PTO output shaft 19b Rotation speed (rotation speed of input shaft 24), ZA1: number of teeth of second input gear 54, ZA2: number of teeth of second sun gear 77, ZC1: number of teeth of first internal gear 63, ZC2: second internal gear 80 teeth (internal teeth). Note that the rotational speeds are both angular velocities or rotational speeds (rpm).

The values of ωM1: ωA1, ωM2: ωC2, ωPTO: ωS1, ωC1: ωA2, ωA2: ωB2, and ωS2: ωB1 can all be obtained from the gear ratio of the gears forming the drive unit 49 (power transmission mechanism 50). can.
20 to 23 are tables showing examples of drive patterns of the drive unit 49. FIG. 20, the drive pattern shown in FIG. 21 as "pattern 2", the drive pattern shown in FIG. 22 as "pattern 3", and the drive pattern shown in FIG. pattern 4”. The numerical values shown in each table are the number of revolutions (rpm). Further, in all drive patterns, the rotation speed of the PTO output shaft 19b is fixed at 1000 (rpm).

The second control unit 93 transmits a command signal in accordance with the command values of the target rotation speeds of the first rotating body 410 and the second rotating body 420 transmitted from the vehicle-side ECU to control the first motor 231 and the second motor. 232 to command the rotation speed to be set (hereinafter referred to as "command rotation speed"). The second control unit 93 may transmit the command signal according to the command value input to the second control unit 93 itself without depending on the command value transmitted from the vehicle-side ECU.

20 to 23, B1 indicates the first rotor 410, B2 the second rotor 420, M1 the first motor 231, and M2 the second motor 232. In FIG. Numerical values in the upper row are the target rotational speeds of the first rotating body 410 and the second rotating body 420 . The numerical values in the lower row are the rotation speeds (command rotation speeds) of the first motor 231 and the second motor 232 for obtaining the target rotation speed. Of the numbers of rotations of the first motor 231 and the second motor 232, the numbers marked with a black triangle indicate reverse rotation, and the numbers without a black triangle indicate forward rotation.

In the planetary gear mechanism (first planetary gear mechanism 52, second planetary gear mechanism 75), when the torque direction of one shaft is determined, the torque direction of the other shafts is also determined. In the case of the spraying device 3, since the torque direction of the rotating bodies (first rotating body 410, second rotating body 420) is always constant, the direction of torque applied to the motor shaft via the planetary gear mechanism is constant. When the direction of rotation of the motor 23 is switched between the forward direction and the reverse direction while the torque direction remains constant, the power running state and the regeneration state are switched at the same time as the direction of rotation is switched. In the driving patterns shown in FIGS. 20 to 23, regenerative power is generated under the condition that the motor 23 rotates in the reverse direction (the condition marked with a black triangle).

If the state of whether or not regenerative power is generated in the first motor 231 and the second motor 232 in each drive pattern is categorized, (A) neither the first motor 231 nor the second motor 232 generates, (B) There are four states: (C) occurring only in the first motor 231 , (D) occurring in both the first motor 231 and the second motor 232 .

The second control section 93 performs control to switch the switching section 92 to the connected state based on any one of the first to fourth configurations described above. Specifically, when based on the first configuration, in the (B) state, (C) state, and (D) state, control is performed to switch the switching unit 92 to the connected state. When based on the second configuration, in the (D) state, control is performed to switch the switching unit 92 to the connected state. When based on the third configuration, in any one of the (B) state, (C) state, and (D) state, and the regenerative power generated in one motor (for example, the first motor 231) control is performed to switch the switching unit 92 to the connected state when the power generated in the motor (for example, the second motor 232) is exceeded. In the case of the fourth configuration, the motor (at least one of the first motor 231 and the second motor 232) to be rotated in the reverse direction in order to be in one of the states (B), (C), and (D). ), control is performed to switch the switching unit 92 to the connected state.

Next, the case where the second control unit 93 performs control based on the third configuration will be described with a specific example. FIG. 24 adds items related to power to the table of pattern 3 (FIG. 22). In the lower part of FIG. 24 (MOTOR POWER section), the number of rotations of the first motor 231, the second motor 232, the first rotating body 410, and the second rotating body 420, and the torque of each motor and each rotating body, The power (M1) generated by the first motor 231, the power (M2) generated by the second motor 232, and the sum (Σ) of the power generated by the first motor 231 and the power generated by the second motor 232 are shown. ing.

First, the leftmost conditions (B1:200, B2:500) in the table of FIG. 24 will be described. Under this condition, regenerative power is generated only in the second motor 232 . That is, it corresponds to the above state (C). Also, under this condition, the driving power (989 W) of the first motor 231 exceeds the regenerative power (777 W) of the second motor 232 . Therefore, neither the first condition nor the second condition for switching the switching unit 92 to the connected state in the control based on the third configuration is satisfied. Therefore, the second control section 93 does not perform control to switch the switching section 92 to the connected state. In other words, the motor 23 is not connected to the regenerative resistor 91 under this condition.

Next, the second condition (B1:300, B2:400) from the left in the table of FIG. 24 will be described. Under this condition, regenerative power is generated only in the second motor 232 . That is, it corresponds to the above state (C). Also, under this condition, the regenerative power (1025 W) of the second motor 232 exceeds the driving power (527 W) of the first motor 231 . Therefore, the second condition for switching the switching unit 92 to the connected state in the control based on the third configuration is satisfied. Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state. That is, under this condition, the motor 23 is connected to the regenerative resistor 91 and the regenerative power generated in the motor 23 is consumed by the regenerative resistor 91 .

Next, the third condition (B1:400, B2:300) from the left in the table of FIG. 24 will be described. Under this condition, regenerative power is generated in both the first motor 231 and the second motor 232 . Specifically, the first motor 231 generates 151 W of regenerative power, and the second motor 232 generates 693 W of regenerative power. Therefore, it corresponds to the above state (D). Therefore, the first condition for switching the switching unit 92 to the connected state in the control based on the third configuration is satisfied. Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state. That is, under this condition, the motor 23 is connected to the regenerative resistor 91 and the regenerative power generated in the motor 23 is consumed by the regenerative resistor 91 .

Finally, the rightmost conditions (B1:500, B2:200) in the table of FIG. 24 will be described. Under this condition, regenerative power is generated only in the first motor 231 . That is, it corresponds to the above state (B). Also, under this condition, the regenerative power of the first motor 231 (1045 W) exceeds the power-driven power of the second motor 232 (218 W). Therefore, the second condition for switching the switching unit 92 to the connected state in the control based on the third configuration is satisfied. Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state. That is, under this condition, the motor 23 is connected to the regenerative resistor 91 and the regenerative power generated in the motor 23 is consumed by the regenerative resistor 91 .

In addition, the control based on the above-described third configuration is such that when the power generated by the first motor 231 and the power generated by the second motor 232 are added, the second control unit 93 performs control to switch the switching unit 92 to the connected state." In this case, the description regarding FIG. 24 can be rephrased as follows.
Under the conditions (B1: 200, B2: 500) on the leftmost side of the table in FIG. 24, when the power generated in the first motor 231 and the power generated in the second motor 232 are summed up, the driving power (211 W) is obtained, and the regenerative power is No power is generated. Therefore, the second control section 93 does not perform control to switch the switching section 92 to the connected state.

Under the second condition (B1: 300, B2: 400) from the left in the table of FIG. 24, the sum of the power generated in the first motor 231 and the power generated in the second motor 232 results in regenerative power (497 W). . Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state.
In the third condition (B1: 400, B2: 300) from the left in the table of FIG. 24, the sum of the power generated in the first motor 231 and the power generated in the second motor 232 results in regenerative power (844 W). . Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state.

Under the rightmost conditions (B1:500, B2:200) in the table of FIG. 24, the sum of the power generated in the first motor 231 and the power generated in the second motor 232 results in regenerative power (828 W). Therefore, the second control section 93 performs control to switch the switching section 92 to the connected state.
The specific example described above is merely an example based on specific conditions, and the method (processing operation) of regenerative power processing by the regenerative power processing unit 89 is not limited to the specific example described above. For example, the switching timing of the switching unit 92 by the second control unit 23 is determined by calculating the required power from the actual torque and the actual rotation speed of the motors 23 (the first motor 231 and the second motor 232) and adding them together. be able to.

The specific example described above is merely an example based on specific conditions, and the method (processing operation) of regenerative power processing by the regenerative power processing unit 89 is not limited to the specific example described above. For example, the switching timing of the switching unit 92 by the second control unit 93 is determined by calculating the required power (actual required power) from the actual torque and the actual rotation speed of the motor 23 (the first motor 231 and the second motor 232) and adding can be determined by The actual torque of the motor 23 can be calculated from the current value output from the inverter 22 to the motor 23 . The actual rotation speed of the motor 23 can be detected by a detector such as a rotation speed sensor attached to the motor 23 .

Specifically, the switching timing of the switching unit 92 by the second control unit 93 is determined by the required power (actual required power) calculated from the actual torque and the actual rotation speed of the first motor 231 and the actual torque of the second motor 232. and the required power (actual required power) calculated from the actual number of revolutions. For example, in the case of the third configuration, the second control unit 93 switches the switching unit 92 to the connected state when the total value of the actual required power of the plurality of motors is negative, and the plurality of motors (the first motor 231, the second 2 motor 232) is controlled to switch the switching unit 92 to the cutoff state when the total value of the actual required power is positive. In other words, switching of the switching unit 92 by the second control unit 93 is performed using the total value 0 W of the actual required power as a threshold.

However, if such control is performed, the actual required power (actual load) of the motor 23 fluctuates greatly and the sign of the actual required power frequently changes (inverts). Switching is frequently performed. In this case, the number of switching times of the switching unit 92, which is composed of a relay or the like, may exceed the endurance number of times in a short period of time.
Therefore, it is necessary to take measures to prevent frequent (wasteful) switching of the switching unit 92 by the second control unit 93 even if the actual required power (actual load) of the motor fluctuates. Protection measures for the switching unit 92 will be described below. In the following explanation, the first to third protection measures will be explained. It is preferable to employ all of these three protective measures, but any one or only two of the three measures may be employed.

<Protective measures for switching section (1)>
First, the configuration employed as the first protective measure for the switching unit 92 will be described.
FIG. 25 is a graph schematically showing the relationship between the rotational speed RV (rpm) of the rotating body 40 and the required power swing width WD (W) of the motor 23 when the working device is the spraying device 3 . As shown in FIG. 25, when the rotational speed of the rotating body 40 increases, the amplitude of the actual required power decreases, and when the rotational speed of the rotating body 40 decreases, the amplitude of the actual required power increases. That is, the fluctuation width of the actual required power becomes the first fluctuation width WD1 when the rotation speed of the rotor 40 is the first rotation speed RV1, and the second rotation speed lower than the first rotation speed RV1. When the rotational speed is RV2, the second amplitude WD2 is larger than the first amplitude.

When the rotating body 40 rotates at a high rotational speed, the actual required power of the motor 23 is in a stable state with a small amplitude, and the power running state is maintained. On the other hand, when the rotating body 40 rotates at a low rotational speed, the actual required power of the motor 23 may fluctuate greatly and fluctuate while alternating between the regenerative state and the power running state. For example, in FIG. 25, if the arrow E1 indicates the regenerative state side and the arrow E2 indicates the power running state side, the regenerative state and the power running state alternate in the rotation speed region (low rotation speed region) near the rotation speed RV3. However, the actual required power may fluctuate. Therefore, if no countermeasures are taken, the switching unit 92 may frequently switch between the connected state and the disconnected state.

Therefore, the second control unit 93 switches the switching unit 92 to the cut-off state when the actual required power of the motor 23 is greater than or equal to the first threshold value, which is a positive value exceeding 0W. Specifically, the second control unit 93 switches when the total value of the actual required powers of the plurality of motors 23 (the first motor 231 and the second motor 232) is equal to or greater than a first threshold, which is a positive value exceeding 0 W. The section 92 is brought into the blocking state. The first threshold is set based on the amplitude of the actual required power determined by the rotation speed of the rotating body 40 . The amplitude of the actual required power is the amplitude of the total value of the actual required power of the plurality of motors (the first motor 231 and the second motor 232).

When the second control unit 93 switches the switching unit 92 to the cut-off state when the second control unit 93 is equal to or greater than the first threshold value, which is a positive value exceeding 0 W, the threshold value of the actual required power at which the switching unit 92 switches from the connected state to the cut-off state is 0 W. is offset (shifted) to the positive value side (the side where the motor 23 is in the power running state). Therefore, in a region (low rotation speed region) where the actual required power of the motor 23 alternates between the regenerative state and the power running state, the switching unit 92 maintains the connected state without switching to the disconnected state. This prevents the switching unit 92 from frequently switching between the connected state and the disconnected state.

Further, when the rotation speed of the rotating body 40 is the first rotation speed RV1, the second control unit 93 sets the first threshold based on the first amplitude WD1 of the actual required power. Further, when the rotation speed of the rotating body 40 is a second rotation speed RV2 lower than the first rotation speed RV1, the second control unit 93 controls the second swing width of the actual required power larger than the first swing width WD1. A first threshold is set based on WD2. By setting the first threshold in response to changes in the rotational speed of the rotating body 40 in this way, it is possible to more reliably prevent the switching unit 92 from frequently switching between the connected state and the disconnected state.

Further, the second control unit 93 switches the switching unit 92 to the connected state when the actual required power of the motor 23 is equal to or lower than the second threshold, which is lower than the first threshold. Specifically, when the total value of the actual required power of the plurality of motors 23 (the first motor 231 and the second motor 232) is equal to or less than the second threshold lower than the first threshold, the second control unit 93 92 is in the connected state.
The second control unit 93 always disables the regenerative resistor 91 when the actual required power of the motor 23 (total value of the actual required power of the first motor 231 and the second motor 232) is greater than or equal to the first threshold value ( The switching unit 92 is set to the cut-off state). In addition, the second control unit 93 always activates the regenerative resistor 91 when the actual required power of the motor 23 (total value of the actual required power of the first motor 231 and the second motor 232) becomes equal to or less than the second threshold value. (puts the switching unit 92 in the connected state). Therefore, the first threshold is a threshold at which the regenerative resistance is always disabled (disabled threshold), and the second threshold is a threshold at which the regenerative resistance is always enabled (effective threshold).

The first threshold is set to the sum of the value obtained by multiplying the swing width of the actual required power by a safety factor and the second threshold. That is, the first threshold is set based on the following formula (A).
1st threshold = 2nd threshold + (fluctuation width of actual required power x safety factor) (A)
The fluctuation width of the actual required power used for setting the first threshold is the fluctuation width of the actual required power at the steady rotation speed of the rotating body 40 . The steady rotation speed is the rotation speed in a steady state when the rotating body 40 performs work. When the working device is the spraying device 3, the fluctuation width of the actual required power used for setting the first threshold value is It is the amplitude of power.

The steady rotation speed of the rotating body 40 is the rotation speed (low speed) at which the actual required power of the motor 23 (total value of the actual required power of the first motor 231 and the second motor 232) fluctuates while alternating between the regenerative state and the power running state. rotation speed). By setting the steady rotation speed of the rotating body 40 used for setting the first threshold to a low rotation speed that fluctuates while the regeneration state and the power running state alternate, the switching unit 92 is frequently switched in the low rotation speed region. can be prevented more reliably.

The second threshold is set to a negative value less than 0W or a positive value greater than 0W.
The reason for setting the second threshold to a negative value less than 0 W is as follows.
A certain amount of the regenerative power generated in the motor 23 is consumed due to loss due to the resistance of the first wiring (power supply circuit) 941, loss inside the generator 15, and the like. Therefore, the second threshold is set to a negative value less than 0 W in consideration of these losses. In this case, the second threshold is set to about -200W, for example.

The reason for setting the second threshold to a positive value exceeding 0 W is as follows.
A switching unit 92 composed of a relay or the like requires a certain operating time to switch between the connected state and the disconnected state. Therefore, the second threshold is set to a positive value exceeding 0 W in consideration of the operation time (delay) of the switching section 92 . In this case, the second threshold is set depending on the performance (operating time) of the switching unit 92, and is set to approximately +200 W, for example. When the performance of the switching unit 92 is good (the operation time is short), the positive value of the second threshold is set small (close to 0W).

The second threshold is input in advance to the second control unit 93, and the second control unit 93 uses the input second threshold to calculate the first threshold according to the above calculation formula (A).
In the calculation formula (A) above, the safety factor is set to a value exceeding 1 (eg, 2 to 3).
In the above calculation formula (A), if the second threshold is -100 W, the amplitude of the actual required power is 500 W, and the safety factor is 2, then the first threshold (W) is calculated as 900 W as follows.
-100W + (500W x 2) = 900W

In this case, the second control unit 93 puts the switching unit 92 into the cut-off state when the actual required power of the motor 23 is 900 W (first threshold value) or more. Further, the second control unit 93 switches the switching unit 92 to the connected state when the actual required power of the motor 23 is -100 W (second threshold value) or less.
The second control unit 93 causes the actual required power of the motor 23 (total value of the actual required power of the first motor 231 and the second motor 232) to temporarily exceed a first threshold value (for example, 900 W), and the regenerative resistor 91 is turned off. After disabling (the switching unit 92 is cut off), even if the actual required power of the motor 23 falls below the first threshold value, the regenerative resistor 91 continues to be disabled, and the actual required power of the motor 23 reaches the second threshold value (eg, -100W). ), the regenerative resistor 91 is enabled (switching unit 92 is connected). After that, the second control unit 93 disables the regenerative resistor 91 when the actual required power of the motor 23 becomes equal to or greater than the first threshold. In other words, the behavior of switching between enabling/disabling of the regenerative resistance by the second control unit 93 has hysteresis. This can prevent the switching unit 92 from frequently switching between the connected state and the disconnected state.

Due to the configuration of the first protection measure described above, even when the actual required power of the motor 23 fluctuates greatly and the sign of the actual required power frequently changes (inverts), switching of the switching unit 92 is performed frequently. Therefore, it is possible to prevent the number of switching times of the switching unit 92, which is composed of a relay or the like, from exceeding the endurance number in a short period of time.

<Protective measures for switching section (2)>
Next, a configuration adopted as a second protection measure for the switching unit 92 will be described.
Theoretically, regenerative power is generated in the motors 23 (first motor 231 and second motor 232) when the rotational speed of the rotating body 40 (first rotating body 410 and second rotating body 420) reaches 0 rpm. This is because the power transmission mechanism 50 receives power from the PTO shaft 19, so in order to set the rotational speed of the rotating body 40 to 0 rpm, the direction of the rotational driving force transmitted from the PTO shaft 19 must be the same as that of the motor 23. This is because it is necessary to rotate in the opposite direction.

However, even when the rotational speed of the rotating body 40 (first rotating body 410, second rotating body 420) becomes 0 rpm, power loss due to the resistance of the first wiring (power supply circuit) 941 actually occurs. A motor force is generated in the motor 23 due to a power loss inside the generator 15 or the like. If the switching unit 92 is switched to the connected state while the motor 23 is generating power, there is a risk that the regenerative resistor 91 will overheat.

Therefore, in order to avoid this risk, the second control unit 93 sets the command rotation speed of the rotating body 40 instructed from the second control unit 93 to be the work stop rotation speed for stopping the work, and the rotating body 40 When the actual number of rotations reaches the number of rotations for stopping the work, the switching portion 92 is brought into the cut-off state. In other words, the second control unit 93 controls the command rotation speed for the motor 23 to be the rotation speed for making the rotation speed of the rotating body 40 the work stop rotation speed (hereinafter referred to as “stop command rotation speed”), and the motor When the actual number of revolutions of 23 reaches the actual number of revolutions for making the number of revolutions of rotor 40 the number of revolutions for work stoppage (hereinafter referred to as "actual stop number of revolutions"), switching portion 92 is switched to the cut-off state.

Specifically, the second control unit 93 controls that the commanded rotation speeds of the plurality of rotating bodies (first rotating body 410, second rotating body 420) are all the work stop rotating speeds, and that the plurality of rotating bodies (first When the actual rotational speeds of both the first rotating body 410 and the second rotating body 420) reach the work stop rotating speed, the switching portion 92 is brought into the cut-off state. In other words, the second control unit 93 sets the command rotation speed for the first motor 231 and the second motor 232 to stop command rotation for making the rotation speed of the first rotor 410 and the second rotor 420 the work stop rotation speed. and when the actual rotation speeds of the first motor 231 and the second motor 232 become the actual stop rotation speeds for making the rotation speeds of the first rotor 410 and the second rotor 420 the work stop rotation speeds. Then, the switching unit 92 is set to the cut-off state.

The work stop rotation speed is the rotation speed at which work is stopped (work cannot be performed), and is set to 0 rpm or a low rotation speed close to 0 rpm. When the work device is the spraying device 3, the work stop rotation speed is the spray stop rotation speed at which spraying is stopped. In the following description, it is assumed that the rotation speed for stopping work is the rotation speed for stopping spraying. The spraying stop rotation speed of the rotor 40 is the rotation speed at which the spraying of the material to be sprayed is stopped (spraying cannot be performed), and is set to 0 rpm or a low rotation speed close to 0 rpm.

The command rotation speed of the rotating body 40 is a target rotation speed command value of the rotating body 40 that is transmitted from the vehicle-side ECU to the second control unit 93 or input to the second control unit 93 itself. The second control unit 93 transmits a command signal based on this command value (command rotation speed of the rotating body) to the inverter 22, and the rotation speed to be set to the first motor 231 and the second motor 232 via the inverter 22 ( command rotation speed for the motor).

When the spraying stop rotation speed (work stop rotation speed) of the rotor 40 is set to 0 rpm, the command rotation speed to stop the motor 23 is the command rotation speed for setting the rotation speed of the rotor 40 to 0 rpm. For example, when the work device is the spraying device 3 having the drive unit 49 shown in FIG. 17, the command rotation speed of the motor (stop command rotation number), the first motor 231 has a negative rotation speed (reverse rotation), and the second motor 232 has 0 rpm.

The second control unit 93 determines whether the command rotation speed for the motors 23 (the first motor 231 and the second motor 232) is the stop command rotation speed, regardless of whether the total value of the actual required power is a positive value or a negative value. and when the actual number of revolutions of the motors 23 (the first motor 231 and the second motor 232) reaches the actual stop number of revolutions, the switching unit 92 is brought into the cut-off state. As a result, it is possible to prevent the switching unit 92 from switching to the connected state when the rotating body 40 reaches the work stop rotation speed (dispersion stop rotation speed) and the motor 23 is generating power. Therefore, the risk of the regenerative resistor 91 overheating can be avoided. Moreover, since unnecessary switching operation of the switching portion 92 can be eliminated, the life of the switching portion 92 can be extended.

FIG. 26 shows the actual rotation speed M1 of the first motor 231, the actual rotation speed M2 of the second motor 232, the command rotation speed D0 and the actual rotation speed D1 of the rotor 40 (first rotor 410, second rotor 420). 3 is a graph showing an example of the relationship between the total value P1 of the actual required power of the first motor 231 and the actual required power of the second motor 232 and the state of the switching unit 92 (disconnected state OFF or connected state ON).
The vertical axis on the left side of the graph in FIG. 26 indicates rotation speed (rpm), the vertical axis on the right side indicates power (W), and the horizontal axis indicates time (seconds). However, the vertical axis on the left side is applied to the command rotation speed D0 and the actual rotation speed D1. As for the actual rotation speed M1 and the actual rotation speed M2, the 0 value on the right vertical axis is applied as 0 rpm, the rotation speed above 0 is positive rotation speed, and the rotation speed below 0 is negative rotation speed.

The graph shown in FIG. 26 will be described below.
In the initial state T1, the rotating body 40 (the first rotating body 410 and the second rotating body 420) is rotating at the first rotation speed (580 rpm). That is, the actual rotation speed D1 in the initial state T1 is the first rotation speed (580 rpm). The command rotation speed D0 matches the actual rotation speed D1. Both the actual rotation speed M1 of the first motor 231 and the actual rotation speed M2 of the second motor 232 are positive values, and the first motor 231 and the second motor 232 are rotating forward. The total value P1 of the actual required powers of the first motor 231 and the second motor 232 is a positive value, and the motor 23 is in the power running state. The switching unit 92 is in a blocking state (OFF).

At time T2, the second control unit 93 sends a command to the inverter 22 to reduce the rotational speed of the rotating body 40 (the first rotating body 410 and the second rotating body 420) to the second rotating speed (156 rpm). . The second rotation speed is the minimum rotation speed at which the material can be spread. During the period from time T2 to time T3 (hereinafter referred to as “first period TR1), the command rotation speed D0 of the rotating body 40 (first rotating body 410, second rotating body 420) increases from the first rotating speed to the In the first period TR1, the actual rotation speed M1 of the first motor 231 changes from a positive value to The total value P1 of the actual required power of the first motor 231 and the second motor 232 changes from a positive value to a negative value, thereby changing the motor 23 from the power running state to the regenerative state. , the switching unit 92 is changed from the disconnected state (OFF) to the connected state (ON).

At time T3, the actual rotation speed D1 of the rotating body 40 (first rotating body 410, second rotating body 420) reaches the second rotating speed, and the period from time T3 to time T4 (hereinafter referred to as "second period TR2)), the actual rotation speed D1 is maintained at the second rotation speed.During the second period TR2, the actual rotation speed M1 of the first motor 231 and the actual rotation speed M2 of the second motor 232 are constant, The total value P1 of the actual power requirements of the first motor 231 and the second motor 232 is a negative value, the motor 23 continues to regenerate, and the switching unit 92 maintains the connected state (ON). .

At time T4, the second control unit 93 transmits to the inverter 22 a command to reduce the rotation speed of the rotor 40 (first rotor 410, second rotor 420) to the third rotation speed (dispersion stop rotation speed). is doing. At this time, the command rotation speed for the motor 23 is the stop command rotation speed for setting the rotating body 40 to the third rotation speed (dispersion stop rotation speed). During the period from time T4 to time T5 (hereinafter referred to as “third period TR3”), command rotation speed D0 of rotor 40 (first rotor 410, second rotor 420) increases from the second rotation speed to the third rotation speed. 26, the third rotation speed is 0 rpm.3rd period At TR3, the negative value of the actual rotation speed M1 of the first motor 231 increases, and the positive value of the actual rotation speed M2 of the second motor 232 decreases toward 0 rm. The negative value of the total value P1 of the actual required power is decreasing, the motor continues to regenerate, and the switching unit 92 maintains the connected state (ON).

At time T4, the supply of the spread material (fertilizer, etc.) to the rotating body 40 is stopped. As a result, the negative value of the total value P1 of the actual required power rapidly decreases in the third period TR3.
At time T5, the actual rotation speed D1 of the rotating body 40 (first rotating body 410, second rotating body 420) reaches the third rotation speed (spraying stop rotation speed), and the period after time T5 (hereinafter referred to as “the During the fourth period TR4), the rotation speed is maintained at the third rotation speed, during which the actual rotation speed M1 of the first motor 231 and the actual rotation speed M2 of the second motor 232 are constant. The total value P1 of the actual power requirements of 231 and the second motor 232 is a positive value, and the motor 23 is in the power running state. there is

In the fourth period TR4, the command rotation speed R1 for the motor 23 is a stop command rotation speed for making the rotation speed (actual rotation speed D0) of the rotor 40 the spraying stop rotation speed. Further, the actual rotation speeds M1 and M2 of the motor 23 are the actual stop rotation speeds for making the rotation speed of the rotor 40 (the actual rotation speed D0) the spray stop rotation speed. In the case of FIG. 26, the spray stop rotation speed is 0 rpm. In addition, as for the stop command rotation speed and the actual stop rotation speed, the first motor 231 is at a negative rotation speed (approximately -1300 rpm), and the second motor 232 is at 0 rpm.

In the case of FIG. 26, the second control unit 93 determines that the command rotation speed D0 of the rotating bodies (first rotating body 410, second rotating body 420) commanded from the second control unit 93 is the work stop rotation speed (dispersion stop). and when the actual rotation speed D1 of the rotating bodies (first rotating body 410, second rotating body 420) reaches the work stop rotating speed (time T5), the switching unit 92 is turned off. there is
In other words, the second control unit 93 controls the command rotation speed for the motors 23 (the first motor 231 and the second motor 232) to be the stop command rotation speed for setting the rotation speed of the rotor 40 to the spray stop rotation speed, and , when the actual rotation speeds M1 and M2 of the motors 23 (the first motor 231 and the second motor 232) reach the actual stop rotation speeds for making the rotation speed of the rotor 40 the spraying stop rotation speed (time T5). , the switching unit 92 is in the cut-off state.

In the fourth period TR4, although the actual rotation speed D1 of the rotor 40 (the first rotor 410 and the second rotor 420) is 0 rpm, the actual requirements for the first motor 231 and the second motor 231 are The power total value P1 is a positive value. In other words, the motor 23 is generating power. Therefore, when the switching unit 92 is switched to the connected state, there is a risk that the regenerative resistor 91 will generate excessive heat. there is

Further, in the fourth period TR4, the total value P1 of the actual required powers of the first motor 231 and the second motor 232 fluctuates in the vicinity of the value of 0, which may cause frequent switching between positive and negative. Unnecessary switching operation of the switching unit 92 can be eliminated by setting the switching unit 92 to the cut-off state (OFF) in TR4. Therefore, the life of the switching unit 92 can be extended, and the regenerative power can be appropriately processed (consumed) over a long period of time.

<Protective measures for switching section (3)>
Next, a configuration adopted as a third protection measure for the switching unit 92 will be described.
While the rotation speed of the rotating body 40 (first rotating body 410, second rotating body 420) is changing (for example, the first period TR1 and the third period TR3 in FIG. 26), the actual required power of the motor 23 is fluctuates sharply. Therefore, the calculation (calculation) of the actual required power by the second switching unit 93 cannot follow the fluctuation, and there is a risk that the switching of the switching unit 92 by the second control unit 93 is not performed accurately or is performed in vain.

Therefore, in order to avoid this risk, the second control unit 93 controls the actual rotation speed of the rotating body 40 even if the command rotation speed of the rotating body 40 commanded from the second control unit 93 is changing. has not reached a predetermined rotational speed range including the commanded rotational speed, the switching unit 92 is brought into the connected state.
Specifically, the second control unit 93 controls that the command rotation speed of at least one of the plurality of rotating bodies (the first rotating body 410 and the second rotating body 420) (target rotating body) is changing. If there is, and the actual number of rotations of at least one of the rotating bodies (the target rotating body) has not reached a predetermined number of rotations range including the commanded number of rotations, the switching unit 92 is set to the connected state.

The predetermined rotation speed range can be set, for example, within a range from a rotation speed lower than the command rotation speed to a rotation speed higher than the command rotation speed. Specifically, for example, it can be set to ±several percent (for example, ±5%) of the command rotation speed of the rotating body 40 . However, the predetermined rotational speed range including the command rotational speed may be set to be the same as the predetermined rotational speed (predetermined rotational speed ±0%).
The command rotation speed of the rotating body 40 is set to the work stop rotation speed. When the work device is the spraying device 3, the command rotation speed of the rotating body 40 is set to the spraying stop rotation speed (for example, 0 rpm).

As described above, when the commanded rotation speed of the rotor 40 is changing and the actual rotation speed of the rotor 40 has not reached the predetermined rotation speed range including the commanded rotation speed, the second control unit 93 By setting the switching unit 92 to the connected state, the connected state is maintained and switching of the switching unit 92 is not performed during a period when the actual required power of the motor 23 fluctuates greatly. Therefore, it is possible to avoid the risk that the switching unit 92 is switched incorrectly or wasted. In other words, unnecessary switching operation of the switching section of the switching section 92 can be eliminated. Therefore, the life of the switching portion 92 can be extended, and the regenerative power can be appropriately processed (consumed) over a long period of time.

For example, in the graph shown in FIG. 26, in the first period TR1 and the third period TR3, the command rotation speed D0 of the rotor 40 is changing to the deceleration side, and the actual rotation speed D1 of the rotor 40 is commanded. This corresponds to a case where the number of revolutions does not reach a predetermined range including the number of revolutions (156 rpm, 0 rpm). Therefore, the second control unit 93 sets the switching unit 92 to the connection state ON during the second period TR2 and the third period TR3.

The first period TR1 and the third period TR3 are periods in which the total value P1 of the actual required power of the motor 23 fluctuates sharply. In particular, in the third period TR3, there is a period in which the total value P1 is slightly positive (the motor is in the power running state), but the switching unit 92 maintains the ON state and does not switch. As a result, it is possible to avoid the risk that the switching unit 92 is switched incorrectly or wasted.

However, even if the command rotation speed of the rotor 40 is changing and the actual rotation speed of the rotor 40 has not reached the predetermined rotation speed range including the command rotation speed, the motor 23 is clearly When the engine is in the power running state, it is not necessary to set the switching portion 92 to the connected state. For example, when the motor 23 is rotating at a high speed or when the speed is increasing, the motor 23 is often in a power running state.

Therefore, preferably, the second control unit 93 switches when the command rotation speed of the rotor 40 is changing to the deceleration side and the actual rotation speed of the rotor 40 has not reached the predetermined rotation speed range. The unit 92 is brought into the connected state. Specifically, the second control unit 93 controls the command rotation speed of at least one of the plurality of rotating bodies (the first rotating body 410 and the second rotating body 420) (target rotating body) to decelerate. During change, and when the actual rotation speed of at least one of the rotating bodies (the target rotating body) has not reached a predetermined rotation speed range including the command rotation speed, the switching unit 92 is set to the connected state. .

More preferably, the second control unit 93 controls the command rotation speed of the rotating body 40 to be reduced toward the work stop rotation speed and the actual rotation speed of the rotation body 40 to the work stop rotation speed. If not, the switching unit 92 is brought into the connected state. Specifically, the second control unit 93 determines that the commanded rotation speed of at least one of the plurality of rotating bodies (the first rotating body 410 and the second rotating body 420) (the target rotating body) is the work stop rotation. is changing toward the deceleration side, and the actual rotation speed of at least one of the rotating bodies (the target rotating body) has not reached the work stop rotation speed, the switching unit 92 is set to the connected state. and

Moreover, even when the actual required electric power of the motor 23 increases and there is no margin for the rated output value of the generator 15, it is preferable to set the switching unit 92 to the cutoff state. Therefore, preferably, the second control unit 93 controls that the actual required power of the motor 23 (sum of the actual required power of the first motor 231 and the actual required power of the second motor 232) is a predetermined value of the rated output value of the generator 15. When the rate is equal to or more than the ratio, the switching unit 92 is switched to the cutoff state. The predetermined ratio is set to, for example, half or one third of the rated output value of the generator 15 .

<Inverter shutdown prevention>
Control for preventing shutdown of the inverter will be described with reference to FIG.
Inverter 22 includes a protection device that shuts off the output when the load voltage exceeds a predetermined voltage. The protective device cuts off the output of the inverter 22 when the load voltage of the inverter 22 rises due to the regenerative power (regenerative power) generated by the motor 23 and exceeds a predetermined voltage when the motor 23 decelerates or stops. protect the inverter 22; In other words, the inverter 22 has a fail-safe function that cuts off the output when the load voltage exceeds a predetermined voltage. Hereinafter, the predetermined voltage is also referred to as "fail-safe function threshold voltage".

When the voltage of the power supply circuit 941 exceeds a predetermined threshold voltage (hereinafter also referred to as “circuit threshold voltage”), if the timing of switching the switching unit 92 to the connected state by the second control unit 93 is delayed, regeneration will occur. The voltage of the power supply circuit 941 rises sharply due to the regenerated energy that cannot flow through the resistor 91 and has no place to go, and the protection device of the inverter 22 is activated (the fail-safe function is activated), and the output of the inverter 22 is cut off. (inverter 22 shuts down).

Therefore, in order to prevent the inverter 22 from shutting down due to the timing delay of switching to the connected state of the switching unit 92, the second control unit 93 is connected to the inverter 22 and supplies power to the motor 23 via the inverter 22. When the voltage of the power supply circuit 941 exceeds the threshold voltage (circuit threshold voltage), the switching unit 92 is switched to the connected state.
As a result, when the voltage of the power supply circuit 941 exceeds the circuit threshold voltage, the current flowing through the power supply circuit 941 flows to the regeneration resistor 91 via the second wiring 942 . Therefore, even if the second control unit 93 switches the switching unit 92 to the connected state after a delay, the protective device of the inverter 22 is prevented from operating, and the output of the inverter 22 is not interrupted.

The circuit threshold voltage is set between the rated voltage of the power supply circuit 941 and the failsafe function threshold voltage. The circuit threshold voltage is set to, for example, an intermediate value between the rated voltage of the power supply circuit 941 and the fail-safe function threshold voltage, or a voltage equal to or higher than the intermediate value. For example, if the power supply circuit 941 has a rated voltage of 56V and a fail-safe function threshold voltage of 69V, the circuit threshold voltage is set to approximately 63V.

<Detection of Rotation Speed of Rotating Body>
Next, a configuration for detecting the number of rotations (actual number of rotations) of the rotating body 40 (the first rotating body 410 and the second rotating body 420) will be described with reference to FIGS. 17 and 19. FIG. The number of rotations (actual number of rotations) of the rotating body 40 may be detected by providing a rotation detector such as a rotation sensor on the rotating shaft 40a of the rotating body 40, but it is preferably detected by the following configuration.

The second control unit 93 calculates the number of rotations of the rotating body 40 (the first rotating body 410 and the second rotating body 420) based on the number of rotations of the motor 23 and the number of rotations of the PTO shaft 19. FIG. Specifically, the second control unit 93 calculates the number of rotations of the first rotating body 410 based on the number of rotations of the PTO shaft 19 and the number of rotations of the first motor 231, and the number of rotations of the PTO shaft 19 and the number of rotations of the first motor 231 and the rotation speed of the second motor 232, the rotation speed of the second rotating body 420 is calculated.

The second control unit 93 acquires the rotation speed of the PTO shaft 19 from the vehicle-side ECU via the ISOBUS. The second control unit 93 acquires the rotation speeds of the motors 23 (first motor 231 and second motor 232 ) from the inverter 22 via the sixth wiring (CAN) 946 .
The second control unit 93 controls the rotating body 40 (first rotating body 410, second rotating body 410, second rotating body 420) is calculated.

Specifically, for example, when the work device is the spraying device 3 having the drive unit 49 shown in FIG. 2), the rotation speed ωB2 of the second rotor 420 is calculated, and the rotation speed ωB1 of the first rotor 410 is calculated based on the equation (1). In equations (1) and (2), ωPTO is the rotation speed of the PTO shaft 19, ωM1 is the rotation speed of the first motor 231, and ωM2 is the rotation speed of the second motor 232.

<Formula (2)>
ωB2=((1+(63/27)×ωPTO×(58/59)−ωM1/(42×104))/(63/27)/(18×14)/(41×12)
<Formula (1)>
ωB1=(ωB2×(41/12)+(96/48)×ωM2×(120/77))/(1+(96/48))×(27/14)

Numerical values contained in the above formulas (1) and (2) are both the number of teeth of the gear that constitutes the driving portion 49 (the power transmission mechanism 50). The number of teeth of the gears forming the driving portion 49 (the power transmission mechanism 50) is known. Therefore, the second control unit 93 controls the rotating body 40 (first rotating body 410, second rotating body 410, second rotating body 420) can be calculated.

As a result, the rotation speed of the rotating body 40 can be detected without providing a rotation detector such as a rotation sensor on the rotating shaft 40a. This eliminates the need for a rotation detector and a device for processing data detected by the rotation detector, thereby simplifying the device configuration (system) for detecting the number of rotations of the rotating body 40 .
Next, a method for calculating the number of rotations of the motor 23 used for calculating the number of rotations of the rotating body 40 described above will be described.

The second control unit 93 controls the command rotation speed transmitted from the second control unit 93 to the inverter 22 in order to control the rotation speed of the motor 23, and the detector 140 (Fig. 27) and received from the inverter 22 (hereinafter referred to as “received rotation speed”), the rotation speed of the rotor 40 (first rotor 410, second rotor 420) is calculated. do. Hereinafter, the number of revolutions of the rotating body 40 (the first rotating body 410 and the second rotating body 420) calculated by the second control section 93 will be referred to as "correction number of revolutions".

As shown in FIG. 27, a command rotation speed R1 for controlling the rotation speed of the motor 23 is transmitted from the second control unit 93 to the inverter 22 via the sixth wiring (CAN) 946 (step 1: arrow ST1). The command rotation speed R1 is included in the command signal that the second control unit 93 transmits to the inverter 22 to set (change) the rotation speed of the motor 23 . The inverter 22 controls the rotation speed of the motor 23 based on the command rotation speed R1 transmitted from the second control section 93 (step 2: see arrow ST2). As a result, the actual rotation speed of the motor 23 changes, and the detector 140 detects the actual rotation speed of the motor 23 and transmits it to the inverter 22 (step 3: see arrow ST3). The inverter 22 transmits the value of the number of rotations of the motor 23 transmitted from the detector 140 as a monitor value to the second control section 93 via the sixth wiring 946 (step 4: see arrow ST4). The second control unit 93 receives the rotation speed transmitted from the inverter 22 and calculates a correction rotation speed R3 based on the received rotation speed (received rotation speed) R2 and the command rotation speed R1.

Here, the signal transmitted from the second control unit 93 to the inverter 22 via the sixth wiring 946 (see arrow ST1) and the signal transmitted from the inverter 22 to the second control unit 93 via the sixth wiring 946 ( (see arrow ST4) is performed intermittently at predetermined time intervals. The transmission interval of the signal transmitted from the second control unit 93 to the inverter 22 (hereinafter referred to as “first transmission interval”) is, for example, 10 ms. Moreover, the transmission interval of the signal transmitted from the inverter 22 to the second control unit 93 (hereinafter referred to as “second transmission interval”) is longer than the first transmission interval, and is every 250 ms, for example. Further, it takes some time for the inverter 22 to process the rotation speed information transmitted from the detector 140 and transmit it to the second control section 93 . For these reasons, there is a time lag ( time difference) occurs.

Therefore, when the rotation speed of the motor 23 changes (increases or decreases) based on the command from the second control unit 93, the command rotation speed R1, the received rotation speed R2 and the actual rotation speed of the motor 23 (actual rotation number). Specifically, when the rotation speed of the motor 23 is decreasing, the command rotation speed R1 becomes smaller than the actual rotation speed of the motor 23, and the received rotation speed R2 becomes larger than the actual rotation speed of the motor 23. . When the rotation speed of the motor 23 is increasing, the command rotation speed R1 becomes larger than the actual rotation speed of the motor 23, and the received rotation speed R2 becomes smaller than the actual rotation speed of the motor 23.

Therefore, the second control unit 93 calculates the rotation speed of the rotating body 40 based on the command rotation speed and the reception rotation speed, instead of based only on the command rotation speed or on the reception rotation speed. Specifically, the second control unit 93 calculates the number of revolutions of the rotating body 40 as a value between the command number of revolutions and the received number of revolutions. Specifically, the second control unit 93 calculates the rotation speed (correction rotation speed) R3 of the rotating body 40 based on the command rotation speed R1 and the received rotation speed R2 using the following relational expression.

R3=R1×α+R2×β
However, α+β=1, 0<α<1, 0<β<1
For example, by setting α=β=0.5, the rotation speed (corrected rotation speed R3) of the rotor 40 can be calculated as an intermediate value between the command rotation speed R1 and the received rotation speed R2. In this case, R3=(R1+R2)/2. Also, instead of setting α=β, α<β or α>β may be set.

FIG. 28 is a graph schematically showing temporal changes in the command rotation speed R1, the received rotation speed R2, and the correction rotation speed R3. The horizontal axis t of the graph is time (ms), and the vertical axis R is the rotation speed (rpm). The graph of FIG. 28 shows the case where the number of revolutions of the motor 23 is increasing based on the command from the second control unit 93 and where α=β=0.5 in the above relational expression. there is FIG. 29 is an enlarged view of part of FIG. t1 is the first transmission interval, t2 is the second transmission interval, and t1<t2.

As shown in FIG. 28, the change (increase) in the command revolution speed R1 and the change (increase) in the received revolution speed R2 are not synchronized, and the change in the receive revolution speed R2 lags behind the change in the command revolution speed R1. In FIG. 28 , tg0, tg1, tg2, and tg3 indicate times (timings) at which the second control unit 93 receives the received rotation speed R2 from the inverter 22 . The second control unit 93 calculates a corrected rotation speed R3 at the first transmission interval t1 based on the command rotation speed R1 and the received rotation speed R2, and transmits the calculated correction rotation speed R3 to the inverter 22 .

Next, a specific method of calculating the corrected rotational speed R3 will be described with reference to FIG. Here, a method of calculating the corrected rotational speed R3 of the second control unit 93 at times ta and tb between times tg0 and tg1 will be described.
The second control unit 93 calculates an intermediate value R3a between the command rotation speed R1a and the received rotation speed R2a at time ta as a correction rotation speed R3a, and calculates an intermediate value R3b between the command rotation speed R1b and the reception rotation speed R2b at time tb. is calculated as the corrected rotational speed R3. Here, the command rotation speed R1b increases with respect to the command rotation speed R1a, but the reception rotation speed R2b does not change with respect to the reception rotation speed R2a. This is because the second control unit 93 recognizes an increase in the command rotation speed R1 from time ta at time tb, but does not recognize (receive) an increase in the received rotation speed R2. The received rotational speed R2 recognized by the second control unit 93 at times ta and tb is the received rotational speed R2X received at time tg0. Therefore, the second control unit 93 uses the reception rotation speed R2X as the reception rotation speeds R2a and Rb2. That is, the second control unit 93 uses the received rotational speed R2X received at time tg0 as the received rotational speed R2 during the period between time tg0 and time tg1.

At time tg1 after the second transmission interval t2 from time tg0, the second control unit 93 recognizes an increase in command rotation speed R1 from time tb and an increase in reception rotation speed R2 from time tg0 (reception )do. Therefore, at time tg1, the second control unit 93 uses the command rotation speed R1c increased from the command rotation speed R1b as the command rotation speed R1, and the received rotation speed R2c increased from the reception rotation speed R2X (=R2a, R2b). is used as the received rotational speed R2, and an intermediate value R3c between the commanded rotational speed R1c and the received rotational speed R2c is calculated as the corrected rotational speed R3.

As described above, the second control unit 93 calculates the rotation speed (correction rotation speed) R3 of the rotor 40 based on the command rotation speed R1 and the received rotation speed R2. Specifically, the second control unit 93 calculates the rotation speed (correction rotation speed) R3 of the rotor 40 as a value between the command rotation speed R1 and the received rotation speed R2. As a result, it is possible to reduce the error (deviation) from the actual number of revolutions that occurs when the number of revolutions of the rotor 40 is calculated based only on the commanded number of revolutions or only on the received number of revolutions. It is possible to calculate with high accuracy.

<effect>
According to the working device and working machine of the above-described embodiments, the following effects can be obtained.
The working device 3 of the above-described embodiment is a working device that performs agricultural work by being connected to the traveling vehicle 2 having the prime mover 11. (motor) 23, a power transmission mechanism 50 that receives power generated by driving the electric motor 23 and power from the prime mover 11, and transmits the input power to the working unit 32, and consumes the regenerative power generated in the electric motor 23. a regenerative resistor 91, a switching unit 92 for switching between a connected state and a disconnected state between the electric motor 23 and the regenerative resistor 91, and a control unit (second control unit) 93 for controlling the switching operation of the switching unit 92, When the actual required power of the electric motor 23 is a positive value exceeding 0 W and is equal to or greater than a first threshold set based on the amplitude of the actual required power determined by the rotation speed of the rotating body 40, the control unit 93 92 is set to the cut-off state.

According to this configuration, the threshold value of the actual required power of the electric motor 23 at which the switching unit 92 switches from the connected state to the disconnected state is offset from 0 W toward the positive value side (the side where the motor is in the power running state). Therefore, in a region where the actual required power of the electric motor 23 fluctuates while alternating between the regenerative state and the power running state (low rotation speed region), the switching unit maintains the connected state without being cut off. This prevents the switching unit 92 from frequently switching between the connected state and the disconnected state. As a result, even when the actual required power (actual load) of the electric motor 23 fluctuates significantly, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed).

Further, when the number of revolutions of the rotating body 40 is the first number of revolutions, the control section (second control section) 93 sets the first threshold based on the first amplitude of the actual required power. is a second rotation speed lower than the first rotation speed, the first threshold value is set based on a second amplitude of the actual required power larger than the first amplitude.
According to this configuration, since the fluctuation width of the actual required power changes depending on the increase or decrease in the rotation speed of the rotating body 40, by setting the first threshold value corresponding to the increase or decrease in the rotation speed of the rotating body 40, the switching unit 92 can be more reliably prevented from frequently switching between the connected state and the disconnected state.

In addition, the control unit (second control unit) 93 switches the switching unit 92 to the connected state when the actual required power of the electric motor 23 is equal to or lower than the second threshold, which is lower than the first threshold.
According to this configuration, the second control unit 93 always disconnects the switching unit 92 when the actual required power of the electric motor 23 is equal to or higher than the first threshold, and always connects the switching unit 92 when it is equal to or lower than the second threshold. state can be

Also, the second threshold can be set to a negative value less than 0W.
According to this configuration, even if a certain amount of regenerative power generated in the electric motor 23 is consumed due to loss due to wiring resistance, internal loss of the generator 15, or the like, the switching unit 92 can be switched at an appropriate timing. It can be carried out.
Also, the second threshold can be set to a positive value exceeding 0W.

According to this configuration, even if there is a delay in the operation time of the switching section 92, the switching of the switching section 92 can be performed at an appropriate timing.
The first threshold is set to the sum of the value obtained by multiplying the fluctuation width of the actual required power by the safety factor and the second threshold.
According to this configuration, the switching unit 92 can be switched at an appropriate timing by setting the first threshold value to a value considering the safety factor.

Further, the fluctuation width of the actual required power used for setting the first threshold is the fluctuation width of the actual required power at the steady rotation speed in the steady state when the rotating body 40 performs work. is the number of rotations at which the actual required power changes while the regenerative state and the power running state alternate.
According to this configuration, the steady rotation speed of the rotating body 40 used for setting the first threshold value is set to a low rotation speed that fluctuates while alternating between the regeneration state and the power running state, thereby switching in the low rotation speed region. Frequent switching of the part 92 can be prevented more reliably.

Further, the control unit (second control unit) 93 puts the switching unit 92 into the cutoff state when the actual required power becomes equal to or greater than the first threshold value, and then continues the cutoff state even when the actual required power falls below the first threshold value. After that, when the actual required power becomes equal to or less than the second threshold value, the switching unit 92 is brought into the connected state, and furthermore, when the actual required power becomes equal to or larger than the first threshold value, the switching unit 92 is brought into the disconnected state. do.
According to this configuration, the behavior of switching between enabling/disabling of the regenerative resistance by the second control unit 93 has hysteresis. This can prevent the switching unit 92 from frequently switching between the connected state and the disconnected state.

In addition, the electric motor 23 includes a plurality of electric motors, and the control unit (second control unit) 93 switches the switching unit 92 is in a disconnected state, and the switching unit 92 is in a connected state when the total value is equal to or less than a second threshold value which is lower than the first threshold value.
According to this configuration, in the work device 3 including the plurality of electric motors 23, it is possible to prevent the switching portion 92 from frequently switching between the connected state and the disconnected state. As a result, even when the actual required power (actual load) of the electric motor 23 fluctuates significantly, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed).

Further, the working device 3 is a working device that performs agricultural work by being connected to the traveling vehicle 2 having the prime mover 11, and includes a working part 32 that performs the agricultural work by rotating the rotating body 40, an electric motor 23 that is driven by electric power, A power transmission mechanism 50 to which the power generated by driving the electric motor 23 and the power from the prime mover 11 are inputted, and which transmits the inputted power to the working part 32; , a switching unit 92 for switching between a connection state and a disconnection state between the electric motor 23 and the regenerative resistor 91, and a control unit (second control unit) 93 for controlling the driving of the electric motor 23 and the switching operation of the switching unit 92, When the command rotation speed of the rotating body 40 commanded from the control unit 93 becomes the work stop rotation speed for stopping the work and the actual rotation speed of the rotation body 40 becomes the work stop rotation speed , the switching unit 92 is turned off.

According to this configuration, even when the actual required power (actual load) of the electric motor 23 fluctuates significantly, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed). Specifically, the switching unit 92 is prevented from being switched to the connected state while the electric motor 23 is generating power, so that unnecessary switching operation of the switching unit 92 can be eliminated. Therefore, the life of the switching portion 92 can be extended, and the regenerative power can be appropriately processed (consumed) over a long period of time.

In addition, the electric motor 23 includes a plurality of electric motors, the working unit 32 includes a plurality of rotating bodies 40, and the control unit 93 controls the command rotation speeds of the plurality of rotating bodies 40 to be the work stop rotation speed, and When the actual number of revolutions of the rotating bodies 40 all reach the work stop number of revolutions, the switching portion 92 is brought into the cut-off state.
According to this configuration, it is possible to prevent the switching portion 92 from frequently switching between the connected state and the disconnected state in the work device 3 including the plurality of electric motors 23 and the rotating bodies 40 . As a result, even when the actual required power (actual load) of the electric motor 23 fluctuates significantly, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed).

Also, the prime mover 11 is an engine, and the power of the engine 11 is input to the power transmission mechanism 50 via the PTO shaft 19 .
According to this configuration, in the work device 3 that is driven by the power transmitted from the engine 11 via the PTO shaft 19 and the power from the electric motor 23, when the actual required power (actual load) of the electric motor 23 fluctuates greatly. Even so, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed).

Also, the rotation speed at which work is stopped is 0 rpm.
According to this configuration, the controller 93 controls the switching unit 92 when the command rotation speed of the rotor 40 commanded from the controller 93 becomes 0 rpm and the actual rotation speed of the rotor 40 becomes 0 rpm. can be turned off.
Further, the working device 3 is a working device that performs agricultural work by being connected to the traveling vehicle 2 having the prime mover 11, and includes a working part 32 that performs the agricultural work by rotating the rotating body 40, an electric motor 23 that is driven by electric power, A power transmission mechanism 50 to which the power generated by driving the electric motor 23 and the power from the prime mover 11 are inputted, and which transmits the inputted power to the working part 32; , a switching unit 92 for switching between a connection state and a disconnection state between the electric motor 23 and the regenerative resistor 91, and a control unit (second control unit) 93 for controlling the driving of the electric motor 23 and the switching operation of the switching unit 92, The control unit 93 determines that the command rotation speed of the rotating body 40 commanded from the control unit 93 is changing, and the actual rotation speed of the rotating body 40 has not reached a predetermined rotation speed range including the command rotation speed. In this case, the switching unit 92 is set to the connected state.

According to this configuration, even when the actual required power (actual load) of the electric motor 23 fluctuates significantly, the regenerative power generated in the electric motor 23 can be appropriately processed (consumed). Specifically, when the command rotation speed of the rotor 40 is changing and the actual rotation speed of the rotor 40 has not reached a predetermined rotation speed range including the command rotation speed, the switching unit 92 is in the connected state. Therefore, during a period in which the actual required power of the electric motor 23 fluctuates sharply, the switching unit 92 is not switched and the connected state is maintained. Therefore, unnecessary switching operation of the switching unit 92 can be eliminated, the life of the switching unit 92 can be extended, and regenerative power can be appropriately processed (consumed) over a long period of time.

A generator 15 that supplies electric power to the electric motor 23 is provided, and the control unit 93 puts the switching unit 92 into a cut-off state when the actual required electric power of the electric motor 23 becomes more than half of the rated output value of the electric generator 15. .
According to this configuration, when the actual required electric power of the motor 23 increases and there is no margin for the rated output value of the generator 15, the switching unit 92 can be brought into the cutoff state.

Further, when the command rotation speed of the rotor 40 is changing to the deceleration side and the actual rotation speed of the rotor 40 has not reached the predetermined rotation speed range, the control unit 93 switches the switching unit 92 to the connected state. and
According to this configuration, it is possible to prevent the switching portion 92 from being in the connected state when the motor 23 is in the power running state, such as when the motor 23 is accelerating.
Further, the control unit 93 determines that the commanded rotation speed of the rotor 40 is changing toward the work stop rotation speed at which the work by the rotor is stopped, and that the actual rotation speed of the rotor 40 is the work stop speed. If the stop rotation speed has not been reached, the switching unit 92 is brought into the connected state.

According to this configuration, it is possible to more reliably prevent the switching portion 92 from being in the connected state when the motor 23 is in the power running state.
Further, the electric motor 23 includes a plurality of electric motors, the working unit 32 includes a plurality of rotating bodies 40, and the control unit 93 controls the command rotation speed of at least one rotating body (target rotating body) of the plurality of rotating bodies 40. is changing and the actual number of rotations of at least one of the rotating bodies (the target rotating body) has not reached the predetermined number of rotations range, the switching unit 92 is set to the connected state.

According to this configuration, unnecessary switching operation of the switching portion 92 can be eliminated in the work device 3 having the plurality of electric motors 23 and the plurality of rotating bodies 40, and the life of the switching portion 92 can be extended. As a result, the regenerative power can be appropriately processed (consumed) over a long period of time.
Further, the control unit 93 determines that the command rotation speed of at least one of the plurality of rotating bodies 40 (target rotating body) is changing to the deceleration side, and that the at least one rotating body ( If the actual number of rotations of the target rotating body has not reached the predetermined number of rotations range, the switching unit 92 is brought into the connected state.

According to this configuration, in the work device 3 including the plurality of electric motors 23 and the plurality of rotating bodies 40, it is possible to prevent the switching portion 92 from being in the connected state when the motors 23 are in the power running state.
In addition, the control unit 93 is changing the command rotation speed of at least one of the plurality of rotation bodies (target rotation body) toward the work stop rotation speed at which the work by the rotation body 40 is stopped to the deceleration side. In addition, when the actual number of rotations of at least one of the rotating bodies (the target rotating body) has not reached the work-stopping number of rotations, the switching unit 92 is set to the connected state.

According to this configuration, in the work device 3 having the plurality of electric motors 23 and the plurality of rotating bodies 40, it is possible to more reliably prevent the switching portion 92 from being in the connected state when the motors 23 are in the power running state. can be done.
The working device 3 is any one of a fertilizer spreading device that spreads fertilizer in a field, a chemical spraying device that sprays a chemical in a field, a seeding device that sows seeds in a field, and a forming device that collects and forms cut crops. .

According to this configuration, even if the actual required power (actual load) of the electric motor 23 fluctuates greatly in the case where the working device 3 is any one of a fertilizer spraying device, a chemical spraying device, a seeding device, and a forming device, Regenerative power generated in the electric motor 23 can be appropriately processed (consumed).
The working machine 1 is a working machine including a traveling vehicle 2 having a prime mover 11 and a working device 3 connected to the traveling vehicle 2. The working device 3 is the working device described above.

According to this configuration, even when the actual required power (actual load) of the electric motor 23 fluctuates sharply, the working device 3 can appropriately process (consume) the regenerative power generated in the electric motor 23. Machine 1 can be provided.
Although one embodiment of the present invention has been described above, it should be considered that the embodiment disclosed this time is illustrative in all respects and is not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 working machine 2 traveling vehicle 3 working device 11 prime mover (engine)
19 PTO shaft 23 Electric motor (motor)
231 1st motor 232 2nd motor 32 working part (scattering part)
40 rotating body 410 first rotating body 420 second rotating body 50 power transmission mechanism 91 regenerative resistance 92 switching section 93 control section (second control section)

Claims (12)

A working device for agricultural work connected to a traveling vehicle having a prime mover,
a working unit that performs farm work by rotating a rotating body;
an electric motor driven by electric power;
a power transmission mechanism that receives power generated by driving the electric motor and power from the prime mover, and transmits the input power to the working unit;
a regenerative resistance that consumes regenerative power generated in the electric motor;
a switching unit that switches between a connection state and a disconnection state between the electric motor and the regenerative resistor;
a control unit that controls the switching operation of the switching unit;
with
When the actual required power of the electric motor is a positive value exceeding 0 W and is equal to or greater than a first threshold set based on the amplitude of the actual required power determined by the rotational speed of the rotating body, the control unit A working device that puts the switching part in the cut-off state. The control unit
setting the first threshold based on a first amplitude of the actual required power when the number of revolutions of the rotating body is the first number of revolutions;
When the number of revolutions of the rotating body is a second number of revolutions lower than the first number of revolutions, the first threshold is set based on a second amplitude of the actual required power larger than the first amplitude. The working device according to claim 1. The working device according to claim 1 or 2, wherein the control unit brings the switching unit into a connected state when the actual required power of the electric motor is equal to or less than a second threshold lower than the first threshold. The working device according to claim 3, wherein the second threshold is set to a negative value less than 0W. The working device according to claim 3, wherein the second threshold is set to a positive value exceeding 0W. The working device according to any one of claims 3 to 5, wherein the first threshold value is set to a sum of a value obtained by multiplying the swing width of the actual required power by a safety factor and the second threshold value. The amplitude of the actual required power used for setting the first threshold is the amplitude of the actual required power at a steady rotation speed in a steady state when the rotating body performs work,
The working device according to any one of claims 1 to 6, wherein the steady rotation speed is a rotation speed at which the actual required power of the electric motor fluctuates while alternating between a regenerative state and a power running state. The control unit puts the switching unit into a cut-off state when the actual required power becomes equal to or greater than the first threshold, and then maintains the cut-off state even when the actual required power falls below the first threshold. After that, when the actual required power becomes equal to or less than the second threshold value, the switching portion is brought into the connected state, and further thereafter, when the actual required power becomes equal to or larger than the first threshold value, the switching portion is brought into the disconnected state. The working device according to any one of claims 3 to 7. The electric motor includes a plurality of electric motors,
The control unit places the switching unit in a cut-off state when a total value of the actual required powers of the plurality of electric motors is equal to or greater than a first threshold value that is a positive value exceeding 0 W, and the total value is lower than the first threshold value. The working device according to any one of claims 1 to 7, wherein the switching portion is set to a connected state when the voltage is equal to or less than a second threshold value. The prime mover is an engine,
The working device according to any one of claims 1 to 9, wherein power of said engine is input to said power transmission mechanism via a PTO shaft. The working device is any one of a fertilizer spreading device that spreads fertilizer in the field, a chemical spraying device that spreads chemicals in the field, a seeding device that sows seeds in the field, and a shaping device that collects and shapes cut crops. 11. The working device according to any one of 1 to 10. a running vehicle with a prime mover;
a working device connected to the traveling vehicle;
A working machine comprising
A working machine, which is the working machine according to any one of claims 1 to 11.

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