Work vehicle

Abstract

To provide a work vehicle that can be made smaller and lighter. [Solution] The device comprises a main body 1, a plurality of driving wheels 2, a plurality of flexible link mechanisms 3 that are configured to bend and extend and each of the driving wheels 2 is individually supported by the main body 1, a flexible operation unit that flexes and extends each of the plurality of flexible link mechanisms 3 individually, and a control unit 6 that controls the posture of the main body 1 by controlling the flexible operation unit and the driving wheels 2, with one flexible link mechanism 3 supported on the right side and one on the left side of the main body 1.

Description

Technical Field

[0001] The present invention relates to a work running body provided with a plurality of bending link mechanisms having running wheels.

Background Art

[0002] As a conventional work running body, for example, as described in Patent Document 1, there is one provided with four bending link mechanisms (referred to as "refraction link mechanisms" in the document) each having a running wheel.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the conventional work running body is provided with two bending link mechanisms on each of the front side and the rear side, and the size of the work running body in the front-rear direction has been large.

[0005] Furthermore, since it is provided with four bending link mechanisms, it has been heavy.

[0006] An object of the present invention is to provide a work running body capable of reducing the size and achieving weight reduction.

Means for Solving the Problems

[0007] The work vehicle of the present invention comprises a main body, a plurality of driving wheels, a plurality of flexible link mechanisms configured to bend and extend and each of the plurality of driving wheels separately supported by the main body, a flexible operation unit that flexes and extends each of the plurality of flexible link mechanisms separately, and a control unit that controls the posture of the main body by controlling the flexible operation unit and the driving wheels, with one flexible link mechanism supported on the right side and one on the left side of the main body.

[0008] According to this invention, the main body is configured to have one flexion link mechanism supported on the right side and one on the left side. In other words, since there are two flexion link mechanisms on the right and left sides, it is possible to reduce the size of the main body in the front-to-back direction. Furthermore, it is possible to reduce the weight compared to a configuration with four flexion link mechanisms, thereby reducing the weight of the working vehicle.

[0009] In the present invention, it is preferable that the portion of the bending link mechanism on the main body side is provided with a left-right swinging mechanism that allows it to swing around an axis extending along the front-rear direction of the main body.

[0010] This configuration allows the bending linkage mechanism to be tilted left and right relative to the vertical direction. As a result, the position of the main body can be changed without changing the contact point of the running wheels.

[0011] In the present invention, it is preferable that the flexion and extension operating parts are provided on the right and left flexion and extension link mechanisms, respectively, and that when the flexion and extension link mechanism is swung by the left-right swiveling mechanism, the right and left flexion and extension operating parts are configured to swivel together with the flexion and extension link mechanism, respectively.

[0012] With this configuration, the flexion / extension linkage mechanism can be flexed and extended by the flexion / extension control unit while it is still oscillating due to the left-right oscillating mechanism. As a result, it becomes possible to perform a combined operation of oscillating the flexion / extension linkage mechanism by the left-right oscillating mechanism and flexing and extending the flexion / extension linkage mechanism by the flexion / extension control unit.

[0013] In the present invention, the bending link mechanism preferably includes a link member that supports the running wheel, a first link portion that supports the link member, a second link portion that supports the running wheel, and a third link portion that supports the first link portion.

[0014] This configuration allows the bending link mechanism to perform various actions by combining the movements of the first link section, the second link section, the third link section, and the link members. As a result, the link members can be changed to various positions.

[0015] In the present invention, it is preferable that the bending and extending operation unit has a plurality of bending and extending motors, and that the bending and extending motors are connected to the first link section, the second link section, and the third link section, respectively.

[0016] This configuration allows the first link section, the second link section, and the third link section to be operated individually, and by combining these operations, the bending link mechanism can be made to perform a variety of movements.

[0017] In the present invention, it is preferable that one of the running wheels is provided on each of the right and left bending link mechanisms.

[0018] This configuration makes it possible to reduce the weight of the working vehicle compared to a system where multiple wheels are attached to a single bending linkage mechanism. [Brief explanation of the drawing]

[0019] [Figure 1] This is a side view of the work vehicle. [Figure 2] This is a front view of the work vehicle. [Figure 3] This is a cross-sectional view showing the configuration of the flexion and extension mechanism. [Figure 4] This is a side view showing the configuration of the flexion and extension linkage mechanism in a bent position. [Figure 5]It is a side view showing the configuration of the flexion and extension link mechanism for the upper rear tilt change. [Figure 6] It is a side view showing the configuration of the flexion and extension link mechanism in the lower front tilt posture. [Figure 7] It is a side view showing the configuration of the flexion and extension link mechanism in the left - right tilt state. [Figure 8] It is a block diagram of the control configuration.

Embodiments for Carrying Out the Invention

[0020] Embodiments for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawings is "front", the direction of arrow B is "rear", the direction of arrow L is "left", and the direction of arrow R is "right". Also, the direction of arrow U in the drawings is "up" and the direction of arrow D is "down".

[0021] 〔Overall Configuration of the Work Traveling Body〕 As shown in FIGS. 1 and 2, the work traveling body includes a main body 1, two traveling wheels 2 for driving, and two flexion and extension link mechanisms 3 for separately supporting the traveling wheels 2 on the main body 1.

[0022] The main body 1 is provided with a battery 4 (corresponding to the "power source" of the present invention), a small battery 5, a control unit 6, and a camera 7.

[0023] The battery 4 is mainly used for driving the traveling wheels 2 and the flexion and extension link mechanisms 3. The battery 4 is provided on the rear side of the upper surface of the main body 1 and is disposed above the traveling wheels 2. The small battery 5 is mainly used for supplying power to electronic devices such as the control unit 6.

[0024] The control unit 6 has a drive control unit 6A for controlling the driving of the traveling wheels 2 and the flexion and extension link mechanisms 3, and a recognition control unit 6B for controlling input signals from the camera 7 and the like. The control unit 6 is provided on the front side of the upper surface of the main body 1 and is disposed above the traveling wheels 2.

[0025] Camera 7 is located at the front end of the main unit 1. Camera 7 is used for detecting obstacles, etc.

[0026] [Structure of the flexion-extension linkage mechanism] The flexion link mechanism 3 is supported on both the right and left sides of the main body 1. Specifically, it is as follows: The main body 1 has fixing parts 21 on its right and left sides that can secure the flexion link mechanism 3. The fixing parts 21 are made up of plate-shaped members that extend in the left-right and up-down directions of the main body 1. The left and right sides of the fixing parts 21 are equipped with right and left lateral swing mechanisms 30, which will be described later. The right and left flexion link mechanisms 3 are each supported by the fixing parts 21 via the right and left lateral swing mechanisms 30.

[0027] The bending link mechanism 3 includes a connecting portion 40, a first link portion 41, a second link portion 42, a third link portion 43, and a link member 44.

[0028] The connecting portion 40 is provided on the main body portion 1 side of the bending link mechanism 3 and is connected to the left-right swing mechanism 30. The connecting portion 40 has a lateral outer wall 40a located laterally outward in the left-right direction of the main body portion 1 relative to the left-right swing mechanism 30, a lateral inner wall 40b located laterally inward, and a rear wall 40c provided extending from the rear end of the lateral outer wall 40a to the rear end of the lateral inner wall 40b in the left-right direction of the main body portion 1. The lateral outer wall 40a, the lateral inner wall 40b, and the rear wall 40c are each composed of plate-like members.

[0029] The first link section 41 includes a first drive link member 41a, a first upper link member 41b, and a first lower link member 41c. One end of the first drive link member 41a is supported by a connecting portion 40, and the other end is connected to the first upper link member 41b. One end of the first upper link member 41b is connected to the first drive link member 41a, and the other end is connected to the first lower link member 41c. One end of the first lower link member 41c is connected to the first upper link member 41b, and the other end is connected to a link member 44. The first drive link member 41a, the first upper link member 41b, and the first lower link member 41c are each connected by a connecting shaft S so as to be able to swing relative to each other.

[0030] The second link section 42 includes a second drive link member 42a, a second upper link member 42b, a second middle link member 42c, and a second lower link member 42d. The second drive link member 42a has one end supported by a connection section 40 and the other end connected to the second upper link member 42b. The second upper link member 42b has one end connected to the second drive link member 42a and the other end connected to the second middle link member 42c. The second middle link member 42c has one end connected to the second upper link member 42b and the other end connected to the second lower link member 42d, and its central side is connected to the first lower link member 41c of the first link section 41. The second lower link member 42d has one end connected to the second middle link member 42c and the other end connected to a link member 44, and also supports one running wheel 2. The second drive link member 42a, the second upper link member 42b, the second middle link member 42c, and the second lower link member 42d are each connected by a connecting shaft S so as to be able to swing relative to each other. Similarly, the second middle link member 42c and the first lower link member 41c are also connected by a connecting shaft S so as to be able to swing relative to each other.

[0031] Unlike the first link section 41 and the second link section 42, the third link section 43 is composed of a single member. One end of the third link section 43 is supported by the connecting section 40, and the other end is connected to the first lower link member 41c of the first link section 41. Specifically, the third link section 43 is connected to the portion of the first lower link member 41c that connects to the first upper link member 41b. The third link section 43 is connected to the same connecting shaft S as the connecting shaft S that connects the first lower link member 41c of the first link section 41 and the second middle link member 42c of the second link section 42, so as to be able to swing relative to it.

[0032] The link member 44 has one end connected to the first lower link member 41c of the first link section 41, and the other end connected to the second lower link member 42d of the second link section 42, and also supports one running wheel 2. The link member 44, the first lower link member 41c, and the second lower link member 42d are each connected by a connecting shaft S so as to be able to swing relative to each other.

[0033] With the above configuration, the first link portion 41 is supported by the third link portion 43, the link member 44 is supported by the first link portion 41, and the running wheel 2 is supported by the second link portion 42 and the link member 44. The second link portion 42 and the link member 44 are arranged to be aligned in the width direction of the running wheel 2 at the point where they support the running wheel 2.

[0034] [Configuration of the bending and extending mechanism] As shown in Figures 1 and 2, the right and left flexion linkage mechanisms 3 are equipped with flexion operation units 50 that flex the right and left flexion linkage mechanisms 3 separately. The flexion operation unit 50 has a first flexion motor 51, a second flexion motor 52, and a third flexion motor 53 as flexion motors for flexing the flexion linkage mechanisms 3. Furthermore, the flexion operation unit 50 has a first output gear 54, a first interlocking gear 55, a second output gear 56, and a second interlocking gear 57.

[0035] Although not shown in the diagram, the first extension motor 51, the second extension motor 52, the third extension motor 53, and the battery 4 are connected by a harness or the like. These extension motors are driven by power supplied from the battery 4.

[0036] The first flexion motor 51 is connected to the first link section 41, the second flexion motor 52 is connected to the second link section 42, and the third flexion motor 53 is connected to the third link section 43. Specifically, it is as follows:

[0037] As shown in Figures 2 and 3, the first flexing motor 51 is fixed to the lateral outer wall 40a of the connection portion 40 such that its output shaft 51a extends inward in the left-right direction of the main body portion 1. A first output gear 54 is attached to the output shaft 51a of the first flexing motor 51, and the first output gear 54 rotates integrally with the output shaft 51a. The first output gear 54 meshes with a first interlocking gear 55, and the first interlocking gear 55 rotates in conjunction with the rotation of the first output gear 54. The first drive link member 41a of the first link portion 41 is fixed to the axial core member P1 to which the first interlocking gear 55 is fixed, and is configured to swing in conjunction with the rotation of the first interlocking gear 55. Furthermore, with this configuration, one end of the first drive link member 41a of the first link portion 41 is supported by the connection portion 40 via the axial core member P1.

[0038] The second extension motor 52 is fixed to the lateral outer wall 40a of the connection section 40 such that its output shaft 52a extends inward in the left-right direction of the main body 1. A second output gear 56 is attached to the output shaft 52a of the second extension motor 52, and the second output gear 56 rotates integrally with the output shaft 52a. The second output gear 56 meshes with a second interlocking gear 57, and the second interlocking gear 57 rotates in conjunction with the rotation of the second output gear 56. The second drive link member 42a of the second link section 42 is fixed to the axial core member P2 to which the second interlocking gear 57 is fixed, and is configured to swing in conjunction with the rotation of the second interlocking gear 57. Furthermore, with this configuration, one end of the second drive link member 42a of the second link section 42 is supported by the connection section 40 via the axial core member P2.

[0039] The third flexing motor 53 is fixed to the lateral outer wall 40a of the connection part 40, with its output shaft 53a extending inward in the left-right direction of the main body 1. One end of the third link part 43 is fixed to the output shaft 53a of the third flexing motor 53. In other words, one end of the third link part 43 is supported by the connection part 40 via the third link part 43.

[0040] As shown in Figures 1 and 2, the first extension motor 51, the second extension motor 52, and the third extension motor 53 are fixed to the outer side surface of the outer side wall 40a of the connection section 40. The first extension motor 51 is located on the rear and upper part of the outer side wall 40a of the connection section 40. The second extension motor 52 is located below the first extension motor 51 on the outer side wall 40a of the connection section 40. The third extension motor 53 is located in front of the outer side wall 40a of the connection section 40, at an intermediate position between the first extension motor 51 and the second extension motor 52.

[0041] With the above configuration, the bending and extending operation unit 50 is integrally supported with the bending and extending link mechanism 3 via the fixing unit 21 on the right and left sides of the main body unit 1.

[0042] [Configuration of the left-right swaying mechanism] As shown in Figures 1 and 2, the main body 1 is equipped with a left-right swing mechanism 30 that allows the right and left flexion link mechanisms 3 to swing around an axis X extending along the front-rear direction of the main body 1. The left-right swing mechanism 30 has right and left swing motors 31 provided on the right and left flexion link mechanisms 3, respectively. Specifically, it is as follows.

[0043] The right and left oscillating motors 31 are fixed to the right and left portions of the rear surface of the fixing portion 21 of the main body 1, respectively. The output shafts 31a of the right and left oscillating motors 31 each extend in a direction along the front-to-back direction of the main body 1.

[0044] The rear wall 40c of the connecting part 40 is fixed to the output shaft 31a of the oscillating motor 31. As the output shaft 31a rotates, the connecting part 40 rotates. This configuration allows the left-right oscillating mechanism 30 to oscillate the portion of the bending link mechanism 3 that is on the main body 1 side, around an axis X that extends along the front-rear direction of the main body 1. With this configuration, when the bending link mechanism 3 is oscillated by the left-right oscillating mechanism 30, the right and left bending operation parts 50 are configured to oscillate together with the bending link mechanism 3.

[0045] [Wheel configuration] As shown in Figures 1 and 2, in this embodiment, the right and left bending link mechanisms 3 are each equipped with one running wheel 2.

[0046] Inside the running wheel 2 is a drive motor 2M that drives the running wheel 2. Although not shown in the diagram, the battery 4 and the drive motor 2M are connected by cables, etc. The drive motor 2M is driven by electricity (power) supplied from the battery 4.

[0047] In this embodiment, the drive motor 2M rotates the running wheels 2 to perform forward and reverse movement, and also functions as a brake by locking the running wheels 2 with the driving force of the drive motor 2M.

[0048] [Configuration of the control unit] As shown in Figure 8, the control unit 6 controls the bending link mechanism 3 to bend and extend by controlling the first bending motor 51, the second bending motor 52, and the third bending motor 53 of the bending operation unit 50. The control unit 6 also controls the bending link mechanism 3 to swing from side to side by controlling the swing motor 31 of the left-right swing mechanism 30. Furthermore, the control unit 6 controls the forward, reverse, and braking operations of the running wheels 2 by controlling the drive motor 2M.

[0049] In this embodiment, the working vehicle is equipped with an attitude-maintaining sensor unit 8 having an IMU (Inertial Measurement Unit). The attitude-maintaining sensor unit 8 may also include a three-axis gyro sensor and a three-axis accelerometer. Although not described in detail, the attitude-maintaining sensor unit 8 can measure the angular velocity of the rotation angle of the main body 1, the left-right tilt angle of the main body 1, the front-rear tilt angle of the main body 1, and so on. The control unit 6 controls the driving of the running wheels 2 and the flexion / extension link mechanism 3 based on the input signals from the attitude-maintaining sensor unit 8. As a result, the working vehicle is configured to maintain an upright posture with only the two running wheels 2 in contact with the ground. In this way, the attitude of the main body 1 is controlled by the control unit 6 controlling the flexion / extension operation unit 50 and the running wheels 2.

[0050] [Control of flexion and extension motion in the flexion and extension linkage mechanism] The bending and extending operation unit 50 is controlled by the control unit 6, thereby controlling the bending and extending movement of the bending and extending link mechanism 3. Specifically, this is done as follows:

[0051] Figure 1 shows the flexion / extension link mechanism 3 in an upright position, extended vertically. To change the flexion / extension link mechanism 3 from an upright position to a bent position, as shown in Figure 4, the first flexion / extension motor 51 and the third flexion / extension motor 53 are controlled to rotate the first drive link member 41a and the third link section 43 counterclockwise in Figure 4. As a result, the angle between the first upper link member 41b and the first lower link member 41c, and the angle between the third link section 43 and the first lower link member 41c are changed to an acute angle compared to the upright position. At the same time, the second flexion / extension motor 52 is controlled to rotate the second link section 42 counterclockwise in Figure 4 so that the link member 44 remains extended vertically. As a result, the flexion / extension link mechanism 3 is changed from an upright position to a bent position. Although not shown in the diagram, when changing the bending link mechanism 3 from the bent position to the upright position, the operation is performed in the opposite direction to that described above, that is, the first drive link member 41a, the second drive link member 42a, and the third link section 43 are rotated clockwise as shown in Figure 4.

[0052] With the above configuration, the right and left flexion linkage mechanisms 3 can be independently changed between an upright and a bent position. In addition to the upright and bent positions, the right and left flexion linkage mechanisms 3 can also be changed to a state where they extend diagonally forward and diagonally backward. This makes it possible to move forward as if walking and to climb steps by alternately changing the right and left flexion linkage mechanisms 3 to a state where they extend diagonally forward and diagonally backward while the running wheels 2 are locked (brakes are applied).

[0053] By changing both the right and left flexion linkage mechanisms 3 between the upright and bent positions, the height of the main body 1 can be changed. Furthermore, by setting one of the right or left flexion linkage mechanisms 3 to the bent position and changing the other right or left flexion linkage mechanism 3 to the upright position, the main body 1 can be tilted so that one side of the main body 1 in the left-right direction is lower.

[0054] Figure 1 shows the flexion link mechanism 3 in an extended state, where the link member 44 extends vertically. To change the flexion link mechanism 3 from the extended state to the rearward tilted state, as shown in Figure 5, the first drive link member 41a and the third link member 43 are rotated clockwise in Figure 5 by controlling the first flexion motor 51 and the third flexion motor 53. This causes the first lower link member 41c to move rearward. As a result, the upper part of the link member 44 tilts rearward, changing the flexion link mechanism 3 from the extended state to the rearward tilted state.

[0055] Furthermore, in order to change the flexion link mechanism 3 from the vertically extended state to the downward-forward tilted position shown in Figure 6, where the lower part of the link member 44 is tilted forward, the second flexion motor 52 is controlled to rotate the second link section 42 clockwise in Figure 6. As a result, as indicated by the arrow in Figure 6, the second middle link member 42c rotates counterclockwise around the connecting axis S in the central part as the axis of rotation, and the second lower link member 42d moves forward. Consequently, the flexion link mechanism 3 is changed from the vertically extended state to the downward-forward tilted position. In this way, the flexion link mechanism 3 and the flexion operation unit 50 are configured to change the position of the link member 44.

[0056] With the above configuration, the flexion link mechanism 3 can be changed to an upward-rear tilting position and a downward-forward tilting position. In addition to the upward-rear tilting position and the downward-forward tilting position, the flexion link mechanism 3 can also be changed to a downward-rear tilting position in which the lower part of the link member 44 is tilted backward, and an upward-forward tilting position in which the upper part of the link member 44 is tilted forward. By changing the position of the link member 44 in this way, it is possible to change the contact point of the running wheels 2 without driving the running wheels 2. For example, this is useful on muddy ground where the running wheels 2 would slip if driven and rotated. Once the running wheels 2 slip, they often continue to slip even if they are driven and rotated in the same state. By changing the position of the link member 44, the contact point of the running wheels 2 is changed. As a result, the running wheels 2 will make contact with the ground at a different location than where they slipped, making it possible to move forward and backward using the running wheels 2.

[0057] [Configuration of the left-right swaying motion of the left-right swaying mechanism] The control unit 6 controls the oscillating motor 31 of the left-right oscillating mechanism 30, thereby controlling the left-right oscillating motion of the bending and extending link mechanism 3. Specifically, this is done as follows:

[0058] Figure 2 shows the flexion link mechanism 3 in an upright state, with the flexion link mechanism 3 extending vertically. To change the flexion link mechanism 3 from the upright state to the tilted state shown in Figure 7, the oscillating motors 31 are controlled to rotate the right and left oscillating motors 31 clockwise in Figure 7. As a result, the right and left flexion link mechanisms 3 oscillate clockwise around the axis X (in the direction of the arrows shown in Figure 7). Consequently, the posture of the main body 1 (horizontal state) is maintained while the right and left flexion link mechanisms 3 are tilted to the left and right.

[0059] Here, the maximum oscillation angle in the vertical direction when the flexion link mechanism 3 is tilted from side to side may be set. The maximum oscillation angle is, for example, 30 degrees, but is not limited to this.

[0060] The above describes an example in which the right and left flexion linkage mechanisms 3 swing in the same direction around the axis X, resulting in a left-right tilt state. However, this is not the only example. By having the right and left flexion linkage mechanisms 3 swing in different directions around the axis X, it is also possible to create a left-right tilt state where the right and left running wheels 2 are separated, or where the right and left running wheels 2 are brought closer together.

[0061] [Another embodiment] The following are examples of alternative embodiments that modify the above embodiments.

[0062] (1) In the above embodiment, the running wheels 2 were described as being provided one each on the right and left flexing link mechanisms 3, but the present invention is not limited to the above embodiment. Two or more running wheels 2 may be provided on the right and left flexing link mechanisms 3. Alternatively, crawlers may be provided instead of running wheels 2.

[0063] (2) In the above embodiment, the first extension motor 51, the second extension motor 52, and the third extension motor 53 were described as being fixed to the lateral outer surface of the lateral outer wall 40a of the connection part 40 and located on the lateral outer side of the extension link mechanism 3 and the connection part 40, but the present invention is not limited to the above embodiment. For example, the first extension motor 51, the second extension motor 52, and the third extension motor 53 may be fixed to the lateral inner surface of the lateral inner wall 40b of the connection part 40 and located on the lateral inner side of the extension link mechanism 3 and the connection part 40. Alternatively, the first extension motor 51, the second extension motor 52, and the third extension motor 53 may be fixed to the rear wall 40c of the connection part 40, and the output shaft 51a of the first extension motor 51, the output shaft 52a of the second extension motor 52, and the output shaft 53a of the third extension motor 53 may be configured to extend in a direction along the front-rear direction of the main body 1.

[0064] (3) In the above embodiment, when the flexion link mechanism 3 is swung by the left-right swing mechanism 30, the right and left flexion operation parts 50 are configured to swing together with the flexion link mechanism 3, respectively. However, the present invention is not limited to the above embodiment. For example, the flexion link mechanism 3 may swing by the left-right swing mechanism 30, and the flexion operation parts 50 may be fixed to the main body 1, so that even if only the flexion link mechanism 3 swings, the flexion operation parts 50 do not swing.

[0065] (4) In the above embodiment, the battery 4 was described as being located on the rear side of the upper surface of the main body 1, but the present invention is not limited to the above embodiment. For example, the battery 4 may be located on the front side of the upper surface of the main body 1, or the battery 4 may be located on the lower surface of the main body 1.

[0066] (5) In the above embodiment, the control unit 6 was described as being located on the front side of the upper surface of the main body 1, but the present invention is not limited to the above embodiment. For example, the control unit 6 may be located on the rear side of the upper surface of the main body 1, or the control unit 6 may be located on the lower surface of the main body 1.

[0067] (6) In the above embodiment, the drive motor 2M is described as a configuration in which the drive motor 2 rotates to perform forward and reverse movement and also functions as a brake by locking the drive wheels 2 with the driving force of the drive motor 2M, but the present invention is not limited to the above embodiment. For example, the present invention may be configured to include a brake mechanism that applies a braking force to the drive wheels 2 by clamping the drive wheels 2.

[0068] Furthermore, the configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0069] The present invention can be used in a work vehicle equipped with multiple articulated linkage mechanisms having running wheels. [Explanation of Symbols]

[0070] 1: Main body 2: Running wheels 3: Flexion and extension linkage mechanism 6: Control Unit 30: Left-right oscillating mechanism 41: First Link Section 42: Second Link Section 43: Third Link Section 44: Link member 50:Bending / extending operation part 51: First flexion / extension motor (flexion / extension motor) 52: Second flexion motor (flexion motor) 53: Third flexion motor (flexion motor) X: Axial center

Claims

1. The main body and Multiple drive wheels that propel the vehicle, Multiple bending link mechanisms are configured to be flexible and extendable, each of which supports a plurality of the aforementioned running wheels separately on the main body, A bending and extending operation unit that individually bends and extends each of the multiple bending and extending link mechanisms, The system includes a control unit that controls the posture of the main body by controlling the bending and extending operation unit and the running wheels, A working vehicle having one of the aforementioned bending link mechanisms supported on the right and left sides of the main body.

2. The work vehicle according to claim 1, further comprising a left-right swinging mechanism that allows the portion of the bending link mechanism on the main body side to swing around an axis extending along the front-rear direction of the main body.

3. The aforementioned bending and extending operation parts are provided in the right and left bending and extending link mechanisms, respectively. The work vehicle according to claim 2, wherein when the bending link mechanism is swung by the left-right swinging mechanism, the right and left bending operation parts are configured to swing together with the bending link mechanism, respectively.

4. The aforementioned flexion and extension linkage mechanism is A link member that supports the aforementioned running wheel, The first link portion that supports the link member, The second link portion that supports the aforementioned running wheel, The work vehicle according to claim 1, further comprising a third link portion supporting the first link portion.

5. The aforementioned bending and extending operation unit has a plurality of bending and extending motors, The work vehicle according to claim 4, wherein the bending motor is connected to the first link portion, the second link portion, and the third link portion, respectively.

6. The work vehicle according to claim 1, wherein one of the running wheels is provided on each of the right and left bending link mechanisms.

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