Work traveling body

Abstract

This work traveling body comprises a main body unit 1, a plurality of travel wheels 2 that are driven to travel, a plurality of bending / extending link mechanisms 3 which are configured to bend and extend and which individually support the plurality of travel wheels on the main body unit 1, bending / extending operating units that individually bend and extend the plurality of bending / extending link mechanisms 3, and a control unit 6 that controls the attitude of the main body unit 1 by controlling the bending / extending operating units and the travel wheels 2, wherein the main body unit 1 has a fixing portion 21 capable of integrally fixing the bending / extending link mechanisms 3 and the bending / extending operating units to a right side part and a left side part of the main body unit 1.

Description

Work running body

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

[0002] As a conventional work running body, for example, as described in Patent Document 1, there is a work running body (referred to as a "transport robot" in the document) having one running wheel on each of the right and left sides.

[0003] International Publication No. 2020 / 054645

[0004] [Problem 1] In such a work running body, in order to enable it to overcome steps or the like, a configuration in which the running wheels are separately supported by a bending and stretching link mechanism configured to be bendable has been considered.

[0005] Since the bending and stretching link mechanism separately supports a plurality of wheels, a plurality of bending and stretching link mechanisms are provided. Further, such a bending and stretching link mechanism includes a bending and stretching operation unit for separately bending and stretching the bending and stretching link mechanisms. Therefore, there has been a demand for a work running body that can efficiently perform the attachment work of the bending and stretching link mechanism and the bending and stretching operation unit during manufacturing.

[0006] An object of the present invention is to provide a work running body that can efficiently perform the attachment work of the bending and stretching link mechanism and the bending and stretching operation unit.

[0007] [Problem 2] In such a work running body, in order to enable it to overcome steps or the like, a configuration in which the running wheels are separately supported by a bending and stretching link mechanism configured to be bendable has been considered.

[0008] However, in such a work running body, for example, due to the enlargement of the work device to be attached or the like, a motor with a large driving force output may be required as a motor for driving the bending and stretching link mechanism. Generally, a motor with a large driving force output has a large amount of heat generated from the motor. Therefore, there has been a demand for a work running body that can improve the cooling performance of the motor for driving the bending and stretching link mechanism.

[0009] The object of the present invention is to provide a working vehicle capable of improving the cooling performance of a motor for driving a bending link mechanism.

[0010] The solution to [Problem 1] is as follows. The working vehicle of the present invention comprises a main body, a plurality of driving wheels, a plurality of bending link mechanisms configured to be flexible and extendable and each of the plurality of driving wheels separately supported by the main body, a bending operation unit that separately bends and extends the plurality of bending link mechanisms, and a control unit that controls the posture of the main body by controlling the bending operation unit and the driving wheels, wherein the main body has fixing parts on the right and left sides of the main body that can integrally fix the bending link mechanisms and the bending operation unit.

[0011] According to this invention, the bending link mechanism and the bending operation part can be integrally attached to the main body. For example, by pre-assembling the bending link mechanism and the bending operation part, they can be easily attached to the main body. As a result, the installation work of the bending link mechanism and the bending operation part can be performed efficiently.

[0012] 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.

[0013] 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.

[0014] In the present invention, it is preferable that the bending link mechanism and the bending operation unit are configured to change the orientation of the link member.

[0015] This configuration allows for changing the contact point of the running wheels without driving them, by altering the orientation of the link members. Once a running wheel slips, it often continues to slip even if the running wheel is driven and rotated in that state. Therefore, by changing the orientation of the link members, the contact point of the running wheel is altered, causing the running wheel to make contact with a different location than where it slipped, thus enabling forward and reverse movement using the running wheels.

[0016] 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.

[0017] 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.

[0018] In the present invention, it is preferable that the main body portion of the bending link mechanism is provided with a lateral motor fixing portion capable of fixing the bending motor, and that all of the multiple bending motors are fixed to the lateral motor fixing portion.

[0019] In this configuration, all the flexion and extension motors are fixed to the horizontal motor fixing part. By pre-assembling the flexion and extension motors to the horizontal motor fixing part during manufacturing, it becomes possible to efficiently install the flexion and extension motors.

[0020] In the present invention, a power source for supplying power to the bending motor is provided, and it is preferable that the power source is supported by the main body.

[0021] Generally, power sources are often heavy. By supporting such heavy power sources within the main body, it becomes possible to support the power source in a stable state.

[0022] The solution to [Problem 2] is as follows. The working vehicle of the present invention comprises a main body, a plurality of driving wheels, right and left bending link mechanisms configured to be flexible and supporting the plurality of driving wheels separately on the main body, a bending operation unit that can independently bend the right and left bending link mechanisms, and a control unit that controls the posture of the main body by controlling the bending operation unit and the driving wheels. The bending operation unit has a plurality of bending motors, and the plurality of bending motors are arranged laterally to the outside of the bending link mechanism.

[0023] According to this invention, the extension motor is positioned on the lateral outer side of the right and left extension linkage mechanisms. In other words, the extension motor is positioned on the lateral outer side of the work vehicle, which is a configuration that allows it to be more easily exposed to the outside air compared to when it is positioned on the lateral inner side of the work vehicle. As a result, the extension motor is cooled more effectively by the outside air, making it possible to improve the cooling performance of the extension motor.

[0024] In the present invention, it is preferable that the main body portion of the bending link mechanism is provided with a lateral motor fixing portion capable of fixing the bending motor, and that a plurality of the bending motors are arranged in the lateral motor fixing portion.

[0025] In this configuration, multiple flexing motors are fixed to a single component called the lateral motor fixing part. For example, during manufacturing, by fixing multiple flexing motors to the lateral motor fixing part in advance, it becomes possible to easily attach multiple flexing motors to the work vehicle.

[0026] 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.

[0027] 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.

[0028] In the present invention, the left-right oscillating mechanism preferably has right and left oscillating motors provided on the right and left bending and extending link mechanisms, respectively, and the right and left oscillating motors are preferably fixed to the main body.

[0029] This configuration allows for less movement and greater stability in supporting the oscillating motor compared to mechanisms such as the bending link mechanism.

[0030] In the present invention, it is preferable that the main body has fixing parts on the right and left sides of the main body that can fix the bending link mechanism, and that the right and left oscillating motors are fixed to the right and left fixing parts, respectively.

[0031] In this configuration, the right and left oscillating motors are distributed and positioned on fixed parts located on the right and left sides of the main body. Compared to when the right and left oscillating motors are clustered together, they are easier to cool, and the cooling performance of the oscillating motors can be improved.

[0032] In the present invention, it is preferable that the output shafts of the right and left oscillating motors each extend in a direction along the front-to-back direction of the main body.

[0033] 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.

[0034] In the present invention, it is preferable that the output shafts of the multiple bending motors each extend inward in the left-right direction of the main body.

[0035] In this configuration, the main body of the extension motor is positioned on the lateral outer side of the right and left extension linkage mechanisms. As a result, the extension motor is optimally cooled by the outside air, thereby improving the cooling performance of the extension motor.

[0036] This is a side view of the work vehicle. This is a front view of the work vehicle. This is a cross-sectional view showing the configuration of the flexion / extension control unit. This is a side view showing the configuration of the flexion / extension linkage mechanism in the flexed state. This is a side view showing the configuration of the flexion / extension linkage mechanism for changing the upper rear tilt. This is a side view showing the configuration of the flexion / extension linkage mechanism in the lower front tilt posture. This is a side view showing the configuration of the flexion / extension linkage mechanism in the left / right tilt state. This is a block diagram of the control configuration.

[0037] Embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F in the figures is "forward", the direction of arrow B is "backward", the direction of arrow L is "left", and the direction of arrow R is "right". Also, the direction of arrow U in the figures is "up", and the direction of arrow D is "down".

[0038] [Overall configuration of the work vehicle] As shown in Figures 1 and 2, the work vehicle is equipped with a main body 1, two drive wheels 2 that drive the vehicle, and two bending link mechanisms 3 that each support the drive wheels 2 on the main body 1.

[0039] The main unit 1 is equipped 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.

[0040] Battery 4 is mainly used to drive the running wheels 2 and the articulation linkage mechanism 3. Battery 4 is located on the rear side of the upper surface of the main body 1 and positioned above the running wheels 2. Small battery 5 is mainly used to supply power to electronic devices such as the control unit 6.

[0041] The control unit 6 includes a drive control unit 6A that controls the driving of the running wheels 2 and the bending link mechanism 3, and a recognition control unit 6B that controls input signals from the camera 7 and the like. The control unit 6 is located on the front side of the upper surface of the main body 1 and is positioned above the running wheels 2.

[0042] Camera 7 is located at the front end of the main body 1. Camera 7 is used for detecting obstacles, etc.

[0043] [Configuration of the telescopic link mechanism] The telescopic link mechanism 3 is supported one by one on the right side and the left side of the main body 1. Specifically, it is as follows. The main body 1 has fixing parts 21 capable of fixing the telescopic link mechanism 3 on the right side part and the left side part of the main body 1. The fixing part 21 is composed of a plate-like member extending in the left-right direction and the up-down direction of the main body 1. On both the left and right sides of the fixing part 21, the right and left swing mechanisms 30 described later are provided. The right and left telescopic link mechanisms 3 are respectively supported by the fixing part 21 via the right and left swing mechanisms 30.

[0044] The telescopic link mechanism 3 has a connecting part 40, a first link part 41, a second link part 42, a third link part 43, and a link member 44.

[0045] The connecting part 40 is provided on the main body 1 side part of the telescopic link mechanism 3 and is connected to the left and right swing mechanism 30. The connecting part 40 has, with respect to the left and right swing mechanism 30, a horizontally outer wall 40a (corresponding to the "horizontal motor fixing part" of the present invention) located horizontally outside in the left-right direction of the main body 1, a horizontally inner wall 40b located horizontally inside, and a rear wall 40c provided across the rear end part of the horizontally outer wall 40a and the rear end part of the horizontally inner wall 40b in the left-right direction of the main body 1. The horizontally outer wall 40a, the horizontally inner wall 40b, and the rear wall 40c are each composed of a plate-like member.

[0046] The first link part 41 has 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 the connecting part 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 the link member 44. The first drive link member 41a, the first upper link member 41b, and the first lower link member 41c are respectively connected so as to be relatively swingable about the connecting shaft S.

[0047] The second link portion 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. One end of the second drive link member 42a is supported by the connection portion 40, and the other end is connected to the second upper link member 42b. One end of the second upper link member 42b is connected to the second drive link member 42a, and the other end is connected to the second middle link member 42c. One end of the second middle link member 42c is connected to the second upper link member 42b, the other end is connected to the second lower link member 42d, and the central side is connected to the first lower link member 41c of the first link portion 41. One end of the second lower link member 42d is connected to the second middle link member 42c, the other end is connected to the link member 44, and supports one traveling 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 connection shaft S so as to be relatively swingable. Further, the second middle link member 42c and the first lower link member 41c are also connected by a connection shaft S so as to be relatively swingable.

[0048] Different from the first link portion 41 and the second link portion 42, the third link portion 43 is composed of one member. One end of the third link portion 43 is supported by the connection portion 40, and the other end is connected to the first lower link member 41c of the first link portion 41. Specifically, the third link portion 43 is connected to the portion of the first lower link member 41c on the side of the connection point with the first upper link member 41b. The third link portion 43 is connected to the same connection shaft S as the connection shaft S connecting the first lower link member 41c of the first link portion 41 and the second middle link member 42c of the second link portion 42 so as to be relatively swingable.

[0049] One end of the link member 44 is connected to the first lower link member 41c of the first link portion 41, the other end is connected to the second lower link member 42d of the second link portion 42, and supports one traveling wheel 2. The link member 44, the first lower link member 41c, and the second lower link member 42d are each connected by a connection shaft S so as to be relatively swingable.

[0050] 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.

[0051] [Configuration of the Flexing Operation Unit] As shown in Figures 1 and 2, the right and left flexing link mechanisms 3 are equipped with flexing operation units 50 that flex the right and left flexing link mechanisms 3 separately. The flexing operation unit 50 has a first flexing motor 51, a second flexing motor 52, and a third flexing motor 53 as flexing motors for flexing the flexing link mechanisms 3. Furthermore, the flexing 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] The second flexing motor 52 is fixed to the lateral outer wall 40a of the connection portion 40 such that its output shaft 52a extends inward in the left-right direction of the main body portion 1. A second output gear 56 is attached to the output shaft 52a of the second flexing 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 portion 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 portion 42 is supported by the connection portion 40 via the axial core member P2.

[0056] The third flexing motor 53 is fixed to the lateral outer wall 40a of the connection part 40 such that its output shaft 53a extends 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.

[0057] As shown in Figures 1 and 2, the first flexion motor 51, the second flexion motor 52, and the third flexion motor 53 are fixed to the outer side surface of the outer side wall 40a of the connection section 40. The first flexion motor 51 is located on the rear and upper part of the outer side wall 40a of the connection section 40. The second flexion motor 52 is located below the first flexion motor 51 on the outer side wall 40a of the connection section 40. The third flexion motor 53 is located in front of the outer side wall 40a of the connection section 40, at an intermediate position between the first flexion motor 51 and the second flexion motor 52.

[0058] 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.

[0059] [Configuration of the Left-Right Swinging Mechanism] As shown in Figures 1 and 2, the main body 1 is equipped with a left-right swinging mechanism 30 that allows the right and left flexion link mechanisms 3 to swing around an axis X that extends along the front-rear direction of the main body 1. The left-right swinging mechanism 30 has right and left swinging motors 31 provided on the right and left flexion link mechanisms 3, respectively. Specifically, it is as follows.

[0060] 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-rear direction of the main body 1.

[0061] 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. With this configuration, the left-right oscillating mechanism 30 makes it possible to oscillate the part of the flexion / extension link mechanism 3 that is on the main body 1 side around the axis X that extends along the front-rear direction of the main body 1. With this configuration, when the flexion / extension link mechanism 3 is oscillated by the left-right oscillating mechanism 30, the right and left flexion / extension operation parts 50 are configured to oscillate together with the flexion / extension link mechanism 3.

[0062] [Configuration of the running wheels] 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.

[0063] 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.

[0064] In this embodiment, the drive motor 2M rotates the wheels 2 to move forward and backward, and also functions as a brake by locking the wheels 2 with the driving force of the drive motor 2M.

[0065] [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.

[0066] In this embodiment, the work vehicle is equipped with an attitude maintenance sensor unit 8 having an IMU (Internal Measurement Unit). The attitude maintenance sensor unit 8 may also include a three-axis gyro sensor and a three-axis accelerometer. Although not described in detail, the attitude maintenance 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 angular velocity of 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 maintenance sensor unit 8. As a result, the work 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.

[0067] [Control of the flexion and extension movement of the flexion and extension link mechanism] The flexion and extension movement of the flexion and extension link mechanism 3 is controlled by the control unit 6, which controls the flexion and extension operation unit 50. Specifically, this is done as follows.

[0068] Figure 1 shows the flexion / extension link mechanism 3 in an upright position extended vertically. When changing the flexion / extension link mechanism 3 from an upright position to a bent position where it is shortened vertically, 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 portion 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 portion 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 portion 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 a bent state to an upright state, 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.

[0069] 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. As a result, with the running wheels 2 locked (brake applied), by alternately changing the right and left flexion linkage mechanisms 3 to a state where they extend diagonally forward and diagonally backward, it becomes possible to move forward as if walking and to climb steps.

[0070] By changing both the right and left flexion link 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 link mechanisms 3 to the bent position and changing the other right or left flexion link 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 positioned downwards.

[0071] Figure 1 shows a flexing link mechanism 3 in an extended state, where the link member 44 extends vertically. To change the flexing link mechanism 3 from the extended state to the rearward tilted state 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 flexing motor 51 and the third flexing 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, and the flexing link mechanism 3 is changed from the extended state to the rearward tilted state.

[0072] 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 arrows in Figure 6, the second middle link member 42c rotates counterclockwise around the connecting shaft 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.

[0073] 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 posture 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 they were 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 posture 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.

[0074] [Configuration of the left-right oscillating motion of the left-right oscillating mechanism] The left-right oscillating motion of the bending and extending link mechanism 3 is controlled by the control unit 6, which controls the oscillating motor 31 of the left-right oscillating mechanism 30. Specifically, it is as follows.

[0075] 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 left-right 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.

[0076] Here, the maximum oscillation angle in the vertical direction when the bending 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.

[0077] 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.

[0078] [Alternative Embodiments] The following are examples of alternative embodiments that modify the above embodiments.

[0079] (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.

[0080] (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 portion 40 and located on the lateral outer side of the extension link mechanism 3 and the connection portion 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 portion 40 and located on the lateral inner side of the extension link mechanism 3 and the connection portion 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 portion 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.

[0081] (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.

[0082] (4) In the above embodiment, the battery 4 was described as being provided 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 provided on the front side of the upper surface of the main body 1, or the battery 4 may be provided on the lower surface of the main body 1.

[0083] (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.

[0084] (6) In the above embodiment, the drive motor 2M is described as a configuration in which it 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, 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 running wheels 2 by clamping them.

[0085] 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.

[0086] The present invention can be used in a work vehicle equipped with multiple articulated linkage mechanisms having running wheels.

[0087] 1: Main body 2: Running wheels 3: Flexion / extension link mechanism 4: Battery (power source) 6: Control unit 21: Fixed part 30: Left / right oscillating mechanism 31: Oscillating motor 31a: Output shaft 40a: Lateral outer wall (lateral motor fixing part) 41: First link part 42: Second link part 43: Third link part 44: Link member 50: Flexion / extension operation part 51: First flexion / extension motor (flexion / extension motor) 51a: Output shaft 52: Second flexion / extension motor (flexion / extension motor) 52a: Output shaft 53: Third flexion / extension motor (flexion / extension motor) 53a: Output shaft X: Shaft

Claims

1. A working vehicle comprising: a main body; a plurality of driving wheels for propulsion; a plurality of flexible link mechanisms configured to be flexible and extendable, each supporting the plurality of driving wheels separately on the main body; a flexible operation unit for 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, wherein the main body has fixing parts on the right and left sides of the main body that can integrally fix the flexible link mechanisms and the flexible operation unit.

2. The working vehicle according to claim 1, wherein the bending link mechanism comprises 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.

3. The work vehicle according to claim 2, wherein the bending link mechanism and the bending operation unit are configured to change the posture of the link member.

4. The work vehicle according to claim 2 or 3, wherein the bending and extending operation unit has a plurality of bending and extending motors, and the bending and extending motors are connected to the first link section, the second link section, and the third link section, respectively.

5. The work vehicle according to claim 4, wherein the portion of the bending link mechanism on the main body side is provided with a lateral motor fixing portion capable of fixing the bending motor, and all of the multiple bending motors are fixed to the lateral motor fixing portion.

6. The work vehicle according to claim 4 or 5, wherein a power source is provided to supply power to the bending motor, and the power source is supported in the main body.

7. A working vehicle comprising: a main body; a plurality of driving wheels for propulsion; right and left flexion link mechanisms configured to be flexible and supporting the plurality of driving wheels separately on the main body; a flexion operation unit capable of independently flexing the right and left flexion link mechanisms; and a control unit that controls the posture of the main body by controlling the flexion operation unit and the driving wheels, wherein the flexion operation unit has a plurality of flexion motors, and the plurality of flexion motors are arranged laterally to the outside of the flexion link mechanism.

8. The work vehicle according to claim 7, wherein the portion of the bending link mechanism on the main body side is provided with a lateral motor fixing portion capable of fixing the bending motor, and a plurality of the bending motors are arranged in the lateral motor fixing portion.

9. The work vehicle according to claim 8, 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.

10. The work vehicle according to claim 9, wherein the left and right oscillating mechanism has right and left oscillating motors provided on the right and left bending and extending link mechanisms, respectively, and the right and left oscillating motors are fixed to the main body.

11. The work vehicle according to claim 10, wherein the main body has fixing parts on the right and left sides of the main body that can fix the bending link mechanism, and the right and left oscillating motors are fixed to the right and left fixing parts, respectively.

12. The work vehicle according to claim 11, wherein the output shafts of the right and left oscillating motors each extend in a direction along the front-rear direction of the main body.

13. The work vehicle according to any one of claims 7 to 12, wherein the output shafts of the multiple extension motors each extend inward in the left-right direction of the main body.

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