Work vehicle

Abstract

To solve the problem that when crops are stored in a container using a harvesting work machine, there is a case where the work is performed while the container is lowered in a farm field, but since a work machine for recovering the container automatically is not available, the recovery work is performed by a human operator who manually runs a transport vehicle.SOLUTION: There is provided a work vehicle with a vehicle body configuration excellent in vibration prevention and strength and well-balanced for coping with the movement of the center of gravity and the like for achieving smooth flow from a robot arm grabbing a container from a farm field and a transportation conveyor for transporting the container to a placing table for temporary storage.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an unmanned work vehicle capable of automatic travel and automatic loading, which collects containers containing harvested crops in a farm field. [Background technology]

[0002] When crops are removed from the field and stored in containers, the containers are large and heavy, so the work must be done while lowering them into the field, necessitating the use of work vehicles that can retrieve the stored containers unmanned. (Patent Document 1) [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-121848 Summary of the Invention [Problem to be solved by the invention]

[0004] In the prior art, there is a technique that uses a gate-shaped frame between which the crop storage bags are moved.

[0005] However, the shape of the storage bag is easily deformed, making it difficult to reliably recover it automatically using an imaging device. In particular, it is difficult to automatically detect the hanging part and align the hanging device with that part.

[0006] The present invention aims to provide a work vehicle that is a device for retrieving containers with fixed shapes and that enables unmanned operation by reducing the movement of the center of gravity when retrieving containers and the vibrations caused by driving. [Means for solving the problem]

[0007] The first aspect of the present invention is achieved by the following technical means.

[0008] A travelling bottom surface 10M is formed by the left frame 10, right frame 20 and mounting base 130 which are parallel to the travelling direction, and a work machine mechanism surface 30M is formed perpendicular to the travelling direction by the gate-shaped frame of the work mechanism 30 which is perpendicular to the travelling direction and is connected to the travelling bottom surface 10M, and further, a rocker link mechanism surface 40M is formed by a rocker link mechanism 40 in front of the work machine mechanism surface 30M which is perpendicular to the travelling direction, and the work machine mechanism surface 30M and the rocker link mechanism surface 40M are connected to a bearing 35 at the upper end of the work machine mechanism surface 30M by a single connecting shaft 36. Furthermore, by connecting the lower end of the rocker link mechanism 40 to the left frame 10 and the right frame 20 with a joint that can connect two intersecting axes that are not on the same straight line, the rocker link mechanism 40 can alleviate distortion that occurs in the running bottom surface 10M when the running bottom surface 10M runs on the field, and at the same time, the slide rail 34 is connected to the rocker link mechanism 40 and rotates independently of the work machine mechanism surface 30M, making it a mechanism that is not subject to stress changes due to positional changes of the robot arm 50 that moves on the slide rail 34.

[0009] The second invention is solved by the following technical means.

[0010] A transport conveyor 70 is arranged between the arm 52 and the arm 62 of the robot arm 50, and a loading table 120 equipped with a plurality of roller conveyors is provided below the rear end 70E of the transport conveyor 70, and the width of the roller conveyor is configured to be equal to or less than the width of the container or the width of the transport conveyor 70.

[0011] The third aspect of the invention is solved by the following technical means.

[0012] The table 120 moves up and down using the frames 31 and 33 of the working mechanism 30, allowing the rear end 70E of the transfer conveyor 70 to move above and below the table 120. [Effects of the Invention]

[0013] The first invention makes it possible to reduce the movement of the center of gravity when collecting containers and the vibrations caused by running the container.

[0014] According to the second aspect of the present invention, even if the robot arm, the transport conveyor and the platform rotate independently, the container can be transported smoothly.

[0015] According to the third aspect of the present invention, in addition to the function of retrieving the container from the field and temporarily storing it on the platform, the container can also be lowered from the platform to a predetermined location. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is an overall perspective view of a work vehicle according to the present invention, seen from the left front. [Figure 2] 2 is an overall perspective view of the work vehicle of the present invention from the left front, upper side. FIG. [Figure 3] 1 is an overall perspective view of a work vehicle according to the present invention, seen from the left rear. [Figure 4] FIG. 2 is a top view of the work vehicle of the present invention. [Figure 5] FIG. 2 is a left side view of the work vehicle of the present invention. [Figure 6] FIG. 2 is an overall perspective view of the work vehicle of the present invention when transporting a container, as seen from the left front. [Figure 7] FIG. 2 is an overall perspective view of the work vehicle of the present invention from the left front during container transport. [Figure 8] FIG. 2 is a left side view of the work vehicle of the present invention during container transport. [Figure 9] FIG. 2 is a left side view of the work vehicle of the present invention during container transport. [Figure 10] 1 is an overall perspective view of a crawler type work vehicle of the present invention, seen from the front left; [Figure 11] 1 is an overall perspective view of a crawler type work vehicle of the present invention, viewed from the left rear. [Figure 12] FIG. 10 is a diagram showing another form of robot arm device in the work vehicle of the present invention. [Figure 13] FIG. 2 shows another type of robot arm device for the work vehicle of the present invention. [Figure 14] FIG. 2 is a left side view of the work vehicle of the present invention in a state where the container is being unloaded. DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be described below with reference to the embodiments shown in the drawings.

[0018] The work vehicle shown in FIGS. 1 to 14 shows an example of this embodiment.

[0019] The background of the work vehicle of the present invention will be explained.

[0020] The work involves pulling crops from the soil in the field, cutting off roots, stems, and leaves as needed, and placing the fruit in a container. However, small-sized vehicles cannot carry a large number of containers filled with harvested crops due to their small size. Therefore, depending on the size of the vehicle, the work may continue by lowering containers into the field as they fill. During this work, containers filled with crops are scattered throughout the field. This requires workers to retrieve the containers. Therefore, if containers are lowered in the center of the field and then retrieved later, it becomes extremely inefficient. Therefore, considering the efficiency of the work, regardless of the amount of crops in the containers, they are currently replaced in a position close to the road surface, where retrieval is easier.

[0021] However, this method results in variations in the amount of containers that can be filled, and requires many containers. Although the weight per load is reduced, the number of operations increases, making transportation from the field using trucks inefficient.

[0022] Given this current situation, it is considered more efficient to use containers until they are full and then lower them into the field when they are full, taking into account subsequent work. When using this work system, it is necessary to collect the containers that have been lowered near the center of the field. The present invention is concerned with the task of collecting containers containing harvested crops, and requires the configuration of a robotic work machine with automatic operation capabilities.

[0023] The configuration of the work vehicle of the present invention will be described with reference to FIGS. 1, 2, 3 and 4. FIG.

[0024] Wheel 13 is attached to the end of link 11 connected to left frame 10, and wheel 14 is attached to the end of link 12, and links 11 and 12 rotate relative to the left frame to prevent vibration. A reinforced coil spring is attached to the rotation axis at the connecting part to reduce shaking in the rotational direction.

[0025] A wheel 23 is provided at the end of a link 21 connected to the right frame 20, and a wheel 24 is provided at the end of a link 22, and the vibration response is similar.

[0026] To drive the wheels, the wheels 13 are equipped with wheel-in motors 15, which are connected to a steering mechanism 17 (not shown), allowing the vehicle to move forward and backward, change speed by changing the number of revolutions of the wheel-in motor, stop, and steer left and right. Each wheel is equipped with a device with a similar configuration.

[0027] Wheel 14 is equipped with a wheel-in motor 16, which is connected to a steering mechanism 18 (not shown). Wheel 23 is equipped with a wheel-in motor 25, which is connected to a steering mechanism 27 (not shown). Wheel 24 is equipped with a wheel-in motor 26, which is connected to a steering mechanism 28 (not shown). The steering mechanism is not essential, and steering can also be achieved by changing the rotation speed of each wheel-in motor.

[0028] Each of these wheel-in motors and each of the control motors described later are powered by a battery 95, and below the battery 95 is a battery management system 96 which controls the current value of each motor to change the rotation speed and turn the rotation on and off, while also detecting abnormalities when the load is too high based on the current value.

[0029] Above this, the working mechanism 30 is placed, with frames 31 and 33 provided at its center as support pillars. These frames are connected by frame 32 to form a gate-like frame configuration. The connection between frame 31 and left frame 10 is made by a bearing with rotational resistance, and this mechanism can absorb the forward and backward shaking of left frame 10, which is the running part. This configuration is similar for frame 33 and right frame 20.

[0030] In front of the frame 32, a slide rail 34 is configured by bearings 35, 37, and a connecting shaft 36, and is configured to reduce left and right shaking of the frame 32 by the rotation direction. The bearings 35 and 37 are members with rotational resistance, and thus reduce shaking.

[0031] In front of the slide rail 34, a rocker link mechanism 40 is connected to the running frame, providing a mechanism for reducing front-to-back and left-to-right swaying of the vehicle body. Link 41 is connected to the left frame 10 by a universal joint 44. Link 41 and link 42 are connected by a universal joint 45, and link 42 and link 43 are connected by a universal joint 46. Link 43 is connected to the right frame 20 by a universal joint 47. Link 42 is further connected to the connecting shaft 36.

[0032] As shown in FIG. 3, the connection configuration of these parts is such that the left frame 10, right frame 20, and mounting platform 130, which are parallel to the traveling direction, form an imaginary traveling bottom surface 10M, the gate-shaped frame of the work mechanism 30, which is perpendicular to the traveling direction, forms an imaginary rectangular working machine mechanism surface 30M perpendicular to the traveling direction and is connected to the imaginary traveling bottom surface 10M, and further, in front of the imaginary working machine mechanism surface 30M perpendicular to the traveling direction, a rocker link mechanism 40 forms an imaginary rocker link mechanism surface 40M, and the upper end of the imaginary working machine mechanism surface 30M is connected to a bearing 35, and the imaginary working mechanism surface 30M and the imaginary rocker link mechanism surface 40M are connected to a single connecting shaft 36. Furthermore, by connecting the lower end of the virtual rocker link mechanism 40 to the left frame 10 and the right frame 20 with a universal joint mechanism that can connect two intersecting axes that are not on the same straight line, the virtual rocker link mechanism 40 alleviates distortion that occurs in the virtual running bottom surface 10M when the virtual running bottom surface 10M runs on the field. At the same time, the slide rail 34 is connected to the virtual rocker link mechanism 40 and rotates independently of the virtual work machine mechanism surface 30M, so that the mechanism is not subject to stress changes due to the positional movement of the robot arm 50 that moves on the slide rail 34, and is also structured to alleviate vibrations caused by running.

[0033] The robot arm 50 is connected to the slide rail 34 of the working mechanism 30. The hand mechanism includes hands 55 and 65 that catch the container 100 containing the produce. Both hands are shaped like human hands, with the interior structure made of wood or steel to form the basic hand shape, which is then wrapped in a resin material. This allows for some deformation, and when the distance between hands 55 and 65 is slightly wider than the width of the container 100 and the robot arm 50 is lowered at that distance, the shape of hands 55 and 65 slightly deforms as they slide onto the handle of the container 100. When they reach the handle, they return to their original shape and hold the handle and top surface of the container 100.

[0034] Another method is to lower the position of the robot arm 50 to the handle position of the container 100 in advance, set the distance between the hands 55 and 65 of the robot arm 50 to a position wider than the width of the container, and then insert and catch the hands 55 and 65 from the rear of the container 100 to the handle position as the work vehicle 1 moves.

[0035] The robot arm 50 is configured such that arms 51, 52, 53, and 54 are connected together, with drive motors 56, 57, and 58 at each connection point, which are paired with the connections of arms 61, 62, 63, and 64 on the opposite side via connecting shafts.

[0036] Of these, a transfer conveyor 70 is disposed between the arms 52 and 62. The transfer conveyor 70 has rollers 72 on both ends of a transfer belt 71, and is driven by the rotation of a motor 73 to transfer the work.

[0037] Arms 51 and 61 of robot arm 50 are incorporated into grooves facing downward in slide rail 34, and are capable of moving laterally within the range of width 34. Although the motor for lateral movement is not shown, the upper end of arm 51 is inside the groove of slide rail 34, and it slides on a rack portion cut into the groove by a pinion gear.

[0038] An imaging device 80 is disposed on the robot arm 50, and a cylindrical tube 82 is attached to the outside of the rotation axis of the robot arm, which is rotated by a motor 81 so that the imaging device 80 always faces in the direction of the desired image capture. When the imaging device 80 detects the container 100, it detects the four sides of the top surface of the container 100, and aligns the center of the container by operating a pin-on gear inside the groove of the slide rail 34 at the upper end of the arm 51 so that it coincides with the midpoint between the hands 55 and 65 of the robot arm 50.

[0039] If the centers are aligned, even if the container 100 is slightly bent in the direction of travel, the hands 55 and 65 can tolerate some deformation, so the container is inserted while fitting, and if both handles match, it can be caught.

[0040] The transport configuration for lifting containers containing crops from the field and temporarily storing them in a work vehicle is explained in Figures 5, 6, and 7.

[0041] As shown in FIG. 5, the loading platform 120 moves below the rear end 70E of the transport conveyor 70. The loading platform 120 can be moved up and down using the frames 31 and 33 of the working mechanism 30. The loading platform 120 is configured by connecting multiple roller conveyors in parallel in the horizontal direction. In FIGS. 1 to 4, a four-part configuration is shown, consisting of roller conveyors 121, 122, 123, and 124. The width of these roller conveyors is equal to or less than the width of the container 100 or the width of the transport conveyor 70, so the container 100 passes through the transport conveyor 70 and is transported accurately to the roller conveyor 121. This configuration prevents each roller conveyor from affecting adjacent containers. It is also possible to configure the loading platform 120 using a conveyor driven by an electric motor, but a roller conveyor capable of free movement is more suitable for power saving purposes.

[0042] In Fig. 1, the robot arm 50 extends and projects significantly forward of the transfer conveyor 70 to catch the container 100. In Fig. 6, the robot arm 50 is folded so that the container 100 rests on the transfer conveyor 70. This moving configuration is shown superimposed in Fig. 9. When the position of the robot arm 50 moves to the position of the robot arm 50A, the container 100 moves to the position of the container 100A, and is transferred to the placement table 120 by the transfer conveyor 70A.

[0043] Returning to the explanation of Figure 6, as arm 54 moves to arm 54A, and arm 64 moves to arm 64A, the gap between the arms widens slightly, and when hand 57 becomes hand 57A and hand 65 becomes hand 65A, the holding force of the hand on the container weakens, and the container is released from the hand. This allows container 100 to be placed on the transport conveyor 70. When a container is placed on the conveyor, a sensor detects it and the transport conveyor operates.

[0044] Because the conveyor belt has some unevenness, it is possible to transport the harvested produce diagonally upward even when the container is tilted. However, if the container is full of harvested produce, the harvested produce would spill out if the container was tilted. Therefore, in the present invention, the conveyor 70 rotates from its tilted position so that it is parallel to the storage and loading platform 120, as shown in Figure 7. From this parallel position, the conveyor belt 71 is driven by the rotation of the motor 73 and transported. For quick work, the conveyor 70 can also be left in the tilted position shown in Figure 6, and this can be changed by changing the settings.

[0045] To respond quickly in this way, the process from catching the container to transporting and placing it must be smooth. This is made possible by the configuration in which a transport conveyor 70 is located inside the arm of the robot arm 50, and a loading platform 120 equipped with multiple roller conveyors is located at the end of the conveyor.

[0046] Another feature is that the transport conveyor 70 serves as a link for the robot arm 50, but also has a lifting function. Even when transporting at an incline, the angle of the transport conveyor 70 can be changed by operating the link of the robot arm, which can also be used as a lifting function. In addition, the transport conveyor 70 can move left and right simultaneously with the robot arm 50, as in the above-mentioned configuration, and can move left and right in the traveling direction within the groove of the slide rail 34 within the movement width 38. Figure 7 shows the container 100B immediately after it has been sent from the transport conveyor 70 to the loading platform 120.

[0047] Additionally, an imaging device 80 is disposed on the robot arm 50, and the robot arm 50 can be moved left and right in accordance with the detected object. With this function, even if the work vehicle 1 does not change the position of the vehicle body by steering each wheel, by moving only the robot arm 50 left and right while keeping the vehicle body position the same, the work vehicle can catch the object in accordance with the position of the container 100.

[0048] Then, by aligning the left and right positions of the robot arm 50 with the positions of the roller conveyors on the platform 120, the containers can be placed on the roller conveyors. The advantage of aligning the positions of the roller conveyors is that containers can be placed in a domino effect using the roller conveyors. Referring to FIG. 2, the initial position of the containers transferred to the platform 120 by the transfer conveyor 70 at the lane position of the roller conveyor 123 is the front, corresponding to the position of container 102. When the containers are subsequently transferred to the roller conveyor 123 at the same position, a domino effect occurs in the container transfer, and the previously transferred container moves backward in the traveling direction, as shown by roller conveyor 124, resulting in the arrangement of containers 101 and 103 in this figure. To achieve this, the platform 120 must be configured with multiple roller conveyors arranged side by side, and the entire length of the roller conveyors must extend in the direction of load movement.

[0049] Each roller conveyor of the additional loading platform 120 is inclined toward the rear of the machine body. There is a stopper at the rear end, and by removing this, it is possible to easily load the product onto a truck or the like parked next to the field.

[0050] A detection device is provided on the mounting table 120, and when it detects that there is no storage space on the mounting table 120, the operation of the robot arm 50 is stopped, and then the traveling is also stopped.

[0051] We will now explain the mechanism for lowering containers containing harvested vegetables onto the ground in a farm field, barn, etc. Contrary to loading, the container is pushed from the rear to the front of the loading platform 120, placed on the transport conveyor 70, and then unloaded by the robot arm 50.

[0052] The platform 120 moves up and down using the frames 31 and 33 of the working mechanism 30, and the rear end 70E of the transport conveyor 70 moves above the platform 120 as shown in FIG. 8. Then, as shown in FIG. 13, the container 102 is manually moved to the transport conveyor 70A and placed in the position of container 102A. Because the belt on the seat of the transport conveyor 70A provides resistance, the container does not naturally slip off, and is transported by rotating the transport conveyor 70A in the forward direction relative to its travel. The container is then caught by the hands 55A and 65A, and can be lowered from the work vehicle to a field or the like. If the platform 120 can be configured to be raised and lowered in this way, it is possible to easily load and unload containers from the rear.

[0053] Also, depending on the length of the robot arm 50, when lowering it to the ground, it may be possible to simply reverse the transport conveyor 70 and not operate the robot arm 50, and it may also be possible to use the machine's reverse motion at the same time.

[0054] When loading onto the bed of a truck or the like, if the robot arm 50 is used, the container that has come out to the transfer conveyor 70 is stopped at a predetermined position, caught by the robot arm 50, and the container is loaded onto the truck in reverse. The robot arm 50 obtains a vertical lift by raising and lowering the transfer conveyor 70 itself to fine-tune the position at which the container is dispensed and discharged from the transfer conveyor 70. The loading position in the fore-and-aft direction can also be adjusted by moving the machine forward and backward.

[0055] A loading platform 130 is placed below the loading platform 120 in a configuration similar to that of multiple roller conveyors arranged side by side. As shown in FIG. 5, the height and width 119 of this loading platform are wider than the height of the container 100, allowing containers to be placed from either the front or rear of the work vehicle 1. This configuration allows empty boxes to be loaded in advance, and when the loading platform 120 is full, containers containing produce can be moved to the loading platform 130, allowing work to continue. Containers on this loading platform are moved using human power. Note that by providing convex partitions in the loading direction of each roller conveyor, resistance is provided, preventing natural container movement due to vibration.

[0056] The driving control will now be described.

[0057] When working in the fields, the vehicle travels at a low speed, but on paved roads such as farm roads, it travels at a high speed.

[0058] The work vehicle 1 of the present invention is a robotic work machine and is capable of unmanned operation. To this end, a work route is set in advance, and the vehicle travels automatically along that route. For this control configuration, it is equipped with a satellite positioning unit 90 and an inertial measurement unit 91. These units confirm the vehicle's own position, and it is possible for the vehicle to drive automatically by tracing a work route registered in a pre-set field map. It is also possible to use SLAM, which uses a Lidar imaging device. The satellite positioning unit 90, inertial measurement unit 91, and Lidar imaging device are located at a height above the top edge of the work mechanism 30 so as not to interfere with communication data or imaging.

[0059] There is also a method of traveling using an imaging device 80. This method determines whether a container on the ridge is empty or full of harvested material and then decides whether to collect it. Containers in the field are generally considered to contain harvested material, but if the harvester that pulls the crops from the field is small, it may be necessary to first place empty containers in the field to hold the harvested material, and then collect the empty containers one by one while harvesting the crops. In this case, it is necessary to take measures to prevent the placed empty containers from being collected by mistake. This automatic determination is performed by the imaging device 80.

[0060] In this case, the empty container must be left as it is and the work vehicle 1 must travel over it. A structure is required that allows the robot arm 50 to be raised and pass directly under the belly of the vehicle body. A condition is that the tread height of the vehicle body, 10H, must be higher than the container height, 100H.

[0061] Because the work vehicle 1 is an electric motor, heavy load work should be avoided during long-term operation because it consumes a large amount of power. In the present invention, a corresponding amount of power is required to catch and then lift a container. Therefore, in order to reduce the power required for this work, once the robot arm 50 catches a container, the robot arm 50 moves forward without operating the arm drive motors 56, 57, and 58 of the robot arm 50, allowing the robot arm 50 to naturally fold. When the robot arm 50 reaches a predetermined angle, each motor is activated, and when the robot arm 50 approaches the folded state shown in FIG. 6, the transfer conveyor 70 is rotated, thereby enabling power saving.

[0062] In this way, the robot arm 50, transport conveyor 70, and platform 120 are configured inside the gate-shaped frame of the work machine mechanism surface 30M to form a continuous transport path, but by utilizing the rocker link mechanism surface 40M to separate the rotational movements of the robot arm 50, transport conveyor 70, and platform 120, the robot arm 50 is less affected by the vibrations of the running bottom surface 10M, which is the running part.In addition, the robot arm 50 and transport conveyor 70 move laterally inside the gate-shaped frame of the work machine mechanism surface 30M, and the running bottom surface 10M is less likely to be affected by the movement of the center of gravity, which occurs when the robot arm 50 and transport conveyor 70 move laterally inside the gate-shaped frame of the work machine mechanism surface 30M, resulting in a vehicle body that is excellent in terms of vibration resistance and strength.

[0063] Another embodiment of the robot arm 50 of the present invention will now be described.

[0064] The hands 55 and 65 that catch the container 100 are made of a flexible material and are configured to fit snugly to the handle of the container 100, but in farm fields with severe unevenness, the container may tilt significantly relative to the ground, and may not fit snugly within the elasticity range of the material. In such cases, the material on the hand side of the robot arm 50 should be steel or similar to prevent deformation, and a mechanism is required to operate the hand section and control the left-right width and front-to-back position of the hand passage so that it fits properly to the handle of the container.

[0065] 12, the left-right width of the hand passage can be changed by operating arm 54A by extending and retracting cylinder 123, and arm 64A by extending and retracting cylinder 124. Furthermore, the front-to-back and up-to-down positions relative to the traveling direction are adjusted by rotating motor 125 for hand 121 and motor 126 for hand 122. In the configuration of this robot arm 120, the position is confirmed by imaging device 80A, but is adjusted by rotating tube 82A under the rotation control of motor 81A.

[0066] The structure of robot arm 130 in Fig. 13 includes links 132 and 133 that rotate around shaft 131 that connects arms 54B and 64B, and link 132 is operated by motor 135, and link 133 is operated by motor 136, independently, thereby providing a mechanism that can control the relative positions of hands 121B and 122B. The width of links 132 and 133 can be adjusted by a mechanism that can be changed or adjusted by setting and fixing the width of the container in advance. Although omitted from this figure, an imaging device is disposed on shaft 131, and similar to the functions of robot arms 50 and 120 described above, it confirms the position of the container.

[0067] The structure of the crawler-type running gear is explained in Figures 10 and 11. In wet paddy fields, the crawler-type 150 running gear, which has good contact with the ground, offers superior running performance. However, because the crawler-type is long from front to back, the width of the vertical vibration and the range of vertical translational movement become large when the field is undulating.

[0068] Therefore, in order to operate the crawler system in a manner similar to four-wheel driving, rollers 153 and 154 in the crawler are regarded as one wheel and connected by plate 157. Plate 157 has a torque spring structure at the connection of the "L"-shaped links of link 157A and link 157B to reduce vibration, and is connected to the rear end of rocker link 160.

[0069] Similarly, rollers 155 and 156 in the crawler are considered to be one wheel and are connected by plate 158. Plate 158 has a torque spring structure at the joint of the "L"-shaped links of link 158A and link 158B to reduce vibration, and is connected to the front end of rocker link 160.

[0070] Rocker link 160 is connected to frame 10C at fulcrum 159 at the center of the link, rocker link rear end fulcrum 157C, and rocker link front end fulcrum 158C, and rocker link 160 and frame 10C perform similar rotational movement around fulcrum 159 at the center of the link.

[0071] The rotation of the frame 10C around the fulcrum 159 is damped at the front part of the frame 10C by the rocker link 40A connected to the upper part of the frame 10C, and at the rear part of the frame 10C by the damper 161 located above the rocker link 160.

[0072] This configuration is configured as the left and right crawler mechanisms. [Explanation of symbols]

[0073] 1 Work vehicle 10M running bottom 30M working mechanism surface 40M Rocker link mechanism 50 Robot Arm 80 Imaging device 100 containers 119 height width

Claims

1. The left frame (10), the right frame (20) and the platform (130) parallel to the direction of travel form a travelling bottom surface (10M), A gate-shaped frame of the working mechanism (30) perpendicular to the traveling direction is used to create a working machine mechanism surface (30M) perpendicular to the traveling direction and is connected to the traveling bottom surface (10M); Furthermore, a rocker link mechanism surface (40M) is formed in front of the working machine mechanism surface (30M) perpendicular to the traveling direction by a rocker link mechanism (40), and the working machine mechanism surface (30M) and the rocker link mechanism surface (40M) are connected to a bearing (35) at the upper end of the working machine mechanism surface (30M) by a single connecting shaft (36), In addition, by connecting the lower end of the rocker link mechanism (40) to the left frame (10) and the right frame (20) with a joint that can connect two intersecting axes that are not on the same straight line, The rocker link mechanism (40) alleviates distortion of the running bottom surface (10M) caused by running on the field, and the slide rail (34) is connected to the rocker link mechanism (40). The work vehicle has a mechanism that rotates independently of the work machine mechanism surface (30M) and is not subjected to stress changes due to positional movement of the robot arm (50) that moves on the slide rail (34).

2. A transport conveyor (70) is disposed between the arm (52) and the arm (62) of the robot arm (50); A loading table (120) equipped with a plurality of roller conveyors is provided below the rear end (70E) of the transport conveyor (70), 2. The work vehicle according to claim 1, wherein the width of the roller conveyor is equal to or less than the width of the container or the width of the transport conveyor.

3. A work vehicle according to claim 1 or claim 2, wherein the platform (120) moves up and down using the frame (31) and frame (33) of the work mechanism (30), allowing the rear end (70E) of the transport conveyor (70) to move above and below the platform (120).

Images