JPH06183374A - Articulated vehicle - Google Patents

Abstract

PURPOSE:To provide an articulated vehicle with the range of surmountable obstructions enlarged by a large margin compared to existing articulated vehicles. CONSTITUTION:An articulated vehicle is formed by using a parallel link manipulator for an articulated part. As a desirable example, the parallel link manipulator is formed of a front part 4 and a rear part 5, and these front and rear parts 4, 5 are connected by a junction plate 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an articulated vehicle having multi-degree-of-freedom articulation parts. More specifically, the present invention relates to an articulated vehicle in which a parallel link manipulator is used in a multi-degree-of-freedom articulation section.

[0002]

2. Description of the Related Art Vehicles are classified into ordinary single vehicles and articulated vehicles having articulated parts according to their shapes. The latter articulated vehicle was originally developed using a coupling consisting of passive hinges to improve the turning characteristics of long-body vehicles such as trailers. After that, a vehicle in which steering is performed by adding one or two actuators to the articulated portion represented by a construction vehicle and actively refracting the vehicle body has been proposed. Further, it has been proposed that a universal joint is used for the articulation part and that it has a function of overcoming obstacles by utilizing the characteristic of being able to bend vertically as well as in the left-right direction (steering direction).

As described above, the articulated portion of the conventional articulated vehicle comprises a hinge or a universal joint and one or two actuators. Therefore, the conventional articulation section has an advantage that the structure thereof is simplified, but has a drawback that the movable direction of the articulation section is limited. 52 and 53 show an example of the articulated part of a conventional articulated vehicle having a function of overcoming an obstacle, but the articulated part has only three degrees of freedom, and one of them has one degree of freedom. It cannot be actively controlled and is insufficient to realize the obstacle overcoming function. Therefore, an obstacle that can be overcome by a vehicle using such a joint is at most 30
It is in the range of degrees, lower 22 degrees, and right and left 37 degrees.

Therefore, even if the conventional articulated vehicle has a function of overcoming an obstacle, the function thereof is extremely limited.

By the way, rationalization has been promoted in the shipbuilding industry, which has been a representative of labor-intensive industries in the past, and a considerable part has been rationalized by the modularized construction method and the block construction method. In the attached ship, the reinforcing material interferes with the free movement of the material transport vehicle, and there is a problem that this part has not been rationalized yet.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and the range of obstacles that can be overcome is greatly expanded as compared with the conventional articulated vehicle. The purpose is to provide an articulated vehicle.

[0007]

The articulated vehicle of the present invention comprises:
The feature is that the parallel link manipulator is used for the articulation part.

In the present invention, it is preferable that the parallel link manipulator has a relay plate in an intermediate portion.

Further, in the present invention, it is preferable that the articulated vehicle has means for adsorbing the vehicle to a road surface. Further, it is preferable that the adsorption means is a magnetic wheel whose magnetic force can be adjusted.

[0010]

Since the articulated vehicle of the present invention uses the parallel link manipulator in the articulated portion, the articulated portion can have a degree of freedom of 6 or more. In addition, the parallel link manipulator is advantageous for work with high rigidity and high load as compared with the serial link manipulator.
Therefore, for example, the rear vehicle can be fixed and the front vehicle can be lifted. Therefore, the vehicle can be driven not only in the front-rear direction (the traveling direction of the vehicle) but also in the left-right direction by getting over the obstacle.

In the preferred embodiment having the relay plate, the range of obstacles that can be overcome is greatly expanded.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 is a perspective view of a first embodiment of the present invention, and FIG.
3 is a plan view of the same embodiment, FIG. 3 is a side view of the same embodiment, FIG. 4 is a sectional view taken along the line AA of FIG. 2, FIG. 5 is a perspective view of a parallel link manipulator used for a joint portion, and FIG. FIG. 7 is a plan view of the parallel link manipulator, FIG. 7 is a front view of the parallel link manipulator, FIG. 8 is a configuration explanatory view of a link used in the parallel link manipulator, and FIGS. 9 to 20 are explanatory diagrams of operations of the parallel link manipulator. Therefore, FIG. 9 is a plan view in the initial state, FIG. 10 is the same front view, FIG. 11 is the same perspective view, FIG. 12 is a plan view in the state of being moved in the + Z axis direction, FIG. 13 is the same front view, and FIG. Same perspective view,
FIG. 15 is a plan view in the state of being moved in the + X axis direction, FIG. 16 is the same front view, FIG. 17 is a perspective view of the same, FIG. 18 is a plan view of the state moving in the + Y direction, and FIG. 19 is the same front view. 28 is a perspective view of the same, and FIGS. 21 to 27 are explanatory views of a case where an articulated vehicle shown in FIG.
29 to 35 are explanatory views of a wall work by the same articulated vehicle, FIG. 29 to FIG. 35 are illustrations in the case of getting over an obstacle on the left side in the traveling direction by the same articulated vehicle, and FIGS. 36 to 42 are the second of the present invention. FIG. 43 is a perspective view of the third embodiment of the present invention, FIG. 44 is the same plan view, FIG. 45 is the same side view, and FIG. 46 is BB of FIG. 47 to 50 are explanatory views of welding work by the self-propelled welding apparatus using the articulated vehicle of the present invention, and FIG. 51 is a hull structure in which welding work is performed by the self-propelled welding apparatus. It is a schematic diagram.

The articulated vehicle of one embodiment of the present invention shown in FIGS. 1 to 4 is a front vehicle 1, a rear vehicle 2, and a relay plate 3.
The front parallel link manipulator 4, the rear parallel link manipulator 5, and the wheels 6 and 7 are the main constituent elements.

The articulated vehicle of this embodiment is constructed for running on a road surface made of an iron plate, for example, inside a hull, and has wheels 6 and 7 formed with electromagnets. 1 or the rear vehicle 2 can be adsorbed on the road surface as required.

A front parallel link manipulator 4 provided at the rear portion 1a of the front vehicle 1 and a parallel link manipulator 5 provided at the front portion 2a of the rear vehicle 2 are also provided.
Are connected via a relay plate 3 as shown in the figure.

This front parallel link manipulator 4
Is used so that the rear vehicle 2 can be lifted and the obstacle O can be overcome, so that the rear vehicle 2 can be held in the air. Also, the rear parallel link manipulator 5 having the same output is used.

As the parallel link manipulator, either a variable link length type or a joint rotation type can be used, but it is preferable to use the variable link length type from the viewpoint that the occupied space during operation becomes small.

5 to 8 show a variable link length type parallel link manipulator 10 used for the front parallel link manipulator 4 and the rear parallel link manipulator 5.

This parallel link manipulator 10
Includes a base plate 11, an upper plate 13, and a link 12 arranged therebetween as main constituent elements. And each link 12A, 12 of this link 12
By appropriately adjusting the movement amounts of B, 12C, 12D, 12E, and 12F, various operations described later can be performed. In the example shown in FIGS. 5-8, six links 12
A, 12B, 12C, 12D, 12E, 12F are arranged in a truss form between the base plate 11 and the upper plate 13, but the number and arrangement of the links are not limited to this, and may be as desired. Can be changed accordingly.

For example, the parallel link manipulator 1
When the variable link length type is used as 0, the number can be 1 to 5 depending on the purpose of use.

When the parallel link manipulator 10 is used as the front parallel link manipulator 4 or the rear parallel link manipulator 5, the base plate 10 has the rear portion 1a of the front vehicle 1 or the front portion 2a of the rear vehicle 2. The upper plate 13 also serves as the relay plate 3.

A schematic diagram of this link 12 is shown in FIG. In the example shown in FIG. 8, the link 12 includes the shaft members 12a, 12c, 12e, 12g, 12i, 12
k, 12n, upper gimbals 12b, 12d, lower gimbals 12j, 12m, swivel 12f, and linear actuator 12h.

Here, the upper gimbals 12b and 12d and the lower gimbals 12j and 12m change the relative angle between the link 12 and the base plate 11 and the upper plate 13 (link 1 when the link 12 is extended or contracted).
Rotation about an axis perpendicular to 2).

Similarly, the swivel 12f has the link 1
This is for absorbing a change in relative angle between the link 12 and the base plate 11 and the upper plate 13 (twisting rotation about the axis of the link 12) that occurs when 2 is stretched and reduced.

Next, the operation of the parallel link manipulator 10 thus constructed will be described with reference to FIGS.

(1) In the initial state, the link 12
A, 12B, 12C, 12D, 12E and 12F are in a neutral state. Therefore, the amount of movement of the upper plate 13 is zero and is parallel to the base plate 11 (see FIG. 9-
11).

(2) The upper plate 13 is moved in the + Z direction (see FIG. 1).
To move (0, up)), the links 12A, 12
The linear motion actuators 12h of B, 12C, 12D, 12E and 12F are driven to extend the shaft member 12g, and the links 12A, 12B, 12C, 12D, 12E and 12F are extended (see FIGS. 12 to 14).

(3) To move the upper plate 13 in the + X direction, the linear actuators 12h of the links 12A and 12F are driven, the shaft member 12g is reduced, the links 12A and 12F are reduced, and the links 12B and 1 are moved.
2E linear motion actuator 12h is driven to drive the shaft member 12
g is stretched, the links 12B and 12E are stretched, the linear actuator 12h of the links 12C and 12D is driven, the shaft member 12g is slightly contracted and then stretched, and the links 12C and 12D are slightly contracted and then stretched ( 15-17).

(4) In order to move the upper plate 13 in the + Y direction, the linear actuators 12h of the links 12C and 12F are driven to reduce the shaft member 12g and the phosphorus 1
2C and 12F are reduced and links 12A, 12B, 1
The linear actuators 12h of 2C, 12D, 12E are driven to extend the shaft member 12g, and the links 12A, 12
B, 12D, and 12E are stretched (see FIGS. 18 to 20).

Incidentally, the movement of each axis in the intermediate direction, for example, X
The movement in the Y-axis direction while moving in the axial direction can be realized by combining the above operations.

Further, the links 12A, 12B, 12C,
By appropriately adjusting the amount of movement of each of 12D, 12E, and 12F, rolling, pitching, and yawing of the upper plate 13 can be performed. For example, to rotate (yaw) the upper plate 13 about the Z axis, the linear actuators 12h of the links 12A, 12C and 12E are driven, the shaft member 12g is extended (or reduced), and the links 12A, 12C and 12E is stretched (or reduced) to create links 12B, 12D and 1
The 2F actuator 12h is driven, the shaft member 12g is contracted (or extended), and the links 12B, 12D, and 12F are contracted (or extended).

These links 12A, 12B, 12C,
12D, 12E, 12F linear actuators 12h
Is calculated and controlled by a controller (not shown) modified so that the control device of the general-purpose industrial robot can perform desired arithmetic processing.

Next, referring to FIGS. 21 to 27, the case of overcoming an obstacle in the traveling direction by the articulated vehicle of this embodiment will be described.

(1) When the front vehicle 1 reaches before the obstacle O, the articulated vehicle stops (see FIG. 21).

(2) The wheels 7 of the rear vehicle 2 are energized to drive the wheels 7
Is used as an electromagnet to attract the rear vehicle 2 to the road surface R. Next, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lift the front vehicle 1 and the relay board 3 (see FIG. 22).

Although the obstacle O is overcome by operating both the front and rear parallel link manipulators 4 and 5, the height of the obstacle is low and the relay plate 3
If it is not necessary to increase the minimum height (distance from the road surface R) of the parallel link manipulator 4, the front and rear parallel link manipulators 4,
By operating any one of 5, it is possible to get over an obstacle.

(3) The rear vehicle 2 moves to the front of the obstacle O while the front vehicle 1 is being lifted (see FIG. 23). This movement is performed by energizing the wheels 7 and driving the wheels while maintaining the attraction force.

(4) The front parallel link manipulator 4 is driven to lower the front vehicle 1 to the road surface R while the relay plate 3 is positioned above the obstacle O (see FIG. 24).

(5) The wheels 6 of the front vehicle 1 are energized to drive the wheels 6
Is used as an electromagnet to attract the front vehicle 1 to the road surface R. Then, after the wheels 7 of the rear vehicle 2 are de-energized, the rear parallel link manipulator 5 is driven to lift the rear vehicle 2 (see FIG. 25).

(6) The front vehicle 1 moves to the position where the rear vehicle 2 passes the obstacle O while the rear vehicle 2 is being lifted (see FIG. 26). This movement is performed in the same manner as (3).

(7) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lower the rear vehicle 2 and the relay plate 3 (see FIG. 27).

In this way, it is possible to get over an obstacle in front of the path.

Next, with reference to FIG. 28, wall surface work by the articulated vehicle of this embodiment will be described.

(1) When the front vehicle 1 reaches the wall surface W,
The articulated vehicle stops.

(2) The wheels 7 of the rear vehicle 2 are energized to drive the wheels 7
Is used as an electromagnet to attract the rear vehicle 2 to the road surface R. Then, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to drive the front vehicle 1
While rotating, the front vehicle 1 is made parallel to the wall surface W.

(3) The rear vehicle 2 keeps the front vehicle 1 parallel to the wall surface W and advances toward the wall surface W until the wheels 6 of the front vehicle 1 reach near the wall surface W (see FIG. 28). .

In this state, the front vehicle 1 performs a desired work.

Next, with reference to FIGS. 29 to 36, a case will be described in which the articulated vehicle of this embodiment gets over the obstacle O on the left side in the traveling direction.

(1) Stop the articulated vehicle at a predetermined position (see FIG. 29).

(2) The wheels 7 of the rear vehicle 2 are energized to drive the wheels 7
Is used as an electromagnet to attract the rear vehicle 2 to the road surface R. Then, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to drive the front vehicle 1
And the relay plate 3 is lifted (see FIG. 30).

(3) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to move the front vehicle 1 leftward to a position where the obstacle O passes through the obstacle O (see FIG. 31).

(4) The front parallel link manipulator 4 is driven to lower the front vehicle 1 to the road surface R while the relay plate 3 is positioned above the obstacle O (see FIG. 32).

(5) The wheels 6 of the front vehicle 1 are energized to attract the front vehicle 1 to the road surface. Next, after the wheels 7 of the rear vehicle 2 are de-energized, the rear parallel link manipulator 5
To drive the rear vehicle 2 (see FIG. 33).

(6) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to move the rear vehicle 2 leftward to a position where the obstacle O passes through the obstacle O (see FIG. 34).

(7) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lower the rear vehicle 2 to the road surface R (see FIG. 35).

In this way, it is possible to get over the obstacle on the left side in the traveling direction. Similarly, an obstacle on the right side in the traveling direction can be overcome.

36 to 42 show the operation of the articulated vehicle of the second embodiment of the present invention. Although not shown in the drawings, the articulated vehicle of this embodiment is provided with a suction device using negative pressure air on the bottom surface of the vehicle instead of the wheels 6 and 7 of the first embodiment.

Next, the operation of this embodiment will be described with reference to FIGS.

(1) In the initial state, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are in the contracted state (see FIG. 36).

(2) Actuating the adsorption device of the rear vehicle 2,
The rear vehicle 2 is adsorbed on the road surface R. Next, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lift the front vehicle 1 and the relay board 3 (see FIG. 37).

(3) With the front vehicle 1 lifted, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to push the front vehicle 1 and the relay plate 3 forward (see FIG. 38). .

(4) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lower the front vehicle 1 to the road surface R (see FIG. 39).

(5) Actuating the adsorption device of the front vehicle 1,
The front vehicle 1 is attracted to the road surface R. Then, the rear vehicle 2
After stopping the suction device of No. 5, the rear parallel link manipulator 5 is driven to lift the rear vehicle 2 (FIG. 4).
0).

(6) While the rear vehicle 2 is being lifted, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to pull the rear vehicle 2 and the relay plate 3 (see FIG. 41).

(7) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to lower the rear vehicle 2 to the road surface R (see FIG. 42).

In this way, the articulated vehicle of the second embodiment can move forward. Here, it is possible to move the front vehicle in a desired direction by appropriately adjusting the pushing direction.

43 to 46 show an articulated vehicle according to the third embodiment of the present invention.

The articulated vehicle according to the third embodiment of the present invention shown in FIGS. 43 to 46 is a front vehicle 31, an intermediate vehicle 32, a rear vehicle 33, a first parallel link manipulator assembly 34, and a first parallel link manipulator assembly 34. 2 parallel link manipulator assembly 35
The wheels 36 of the front vehicle 31, the wheels 37 of the intermediate vehicle 32, and the wheels 38 of the rear vehicle 33 are the main constituent elements.

The first parallel link manipulator assembly 34 and the second parallel link manipulator assembly 3
Reference numeral 5 includes a front parallel link manipulator 4, a rear parallel link manipulator 5 and a relay plate 3 which are similar to those used in the articulation portions of the first and second embodiments.

The operation of this embodiment is basically the same as that of the first embodiment, but since two vehicles support the load of one vehicle, the other vehicle is lifted by the parallel link manipulator as in the first embodiment. There is no need to attach the vehicle to the road surface. Therefore, it is not necessary to use wheels as electromagnets. Therefore, a normal traveling device is used in this embodiment. For example, normal wheels are used as the wheels 36, 37, 38.

The operation of the first parallel link manipulator assembly 34 and the second parallel link manipulator assembly 35 when the articulated vehicle of this embodiment gets over an obstacle on the road surface is performed by the front vehicle 31 and the rear vehicle. The vehicle 33 is similar to that of the first embodiment. However, with respect to the intermediate vehicle 32, the first parallel link manipulator assembly 34 and the second parallel link manipulator assembly 35 operate together in the first embodiment.
Is different from

47 to 50 show the welding operation on the hull outer plate C as shown in FIG. 51 by the self-propelled welding apparatus 41 using the articulated vehicle of the first embodiment.

Next, with reference to FIGS. 47 to 50, the operation of the self-propelled welding device 41 at the time of welding work on the hull skin as shown in FIG. 51 will be described.

(1) Welding torch 4 of self-propelled welding device 41
2 is positioned at the base of the rib S temporarily fixed to the hull outer plate C. Then, the welding torch 42 welds the base portion of the rib S by a control device (not shown) command (FIG. 4).
7).

(2) When the welding of the base of the rib S is completed, the self-propelled welding device 41 is retracted to separate the welding torch 42 from the base of the rib S and raise the welding torch 42 to the horizontal position. Then, the front parallel link manipulator 4 and the rear parallel link manipulator 5 are operated to lift the front vehicle 1 and the relay board 3. Then, while the front vehicle 1 is being lifted, the rear vehicle 2 is moved to just before the rib S, and the front vehicle 1 is allowed to get over the rib S (see FIG. 48).

(3) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are operated to lower the front vehicle 1 onto the hull skin C. Then,
The welding torch 42 is lowered onto the hull skin C (Fig. 49).
reference).

(4) The front parallel link manipulator 4 and the rear parallel link manipulator 5 are driven to drive the rear vehicle 2 over the rib S in the same manner.

In this way, when the ride over the rib S of the rear vehicle 2 is completed, the self-propelled welding device 41 is moved to the base of the next rib S, and the series of operations described above is repeated.

When the welding of the ribs S on the hull outer plate C installed horizontally is completed by repeating the above series of operations, the ribs S provided above are welded. As shown in FIG. 50, this drives the front parallel link manipulator 4 and the rear parallel link manipulator 5 to lift the front vehicle 1 without rotating it to a predetermined angle. Then, the rear vehicle 2 is moved and the attitude of the welding torch 42 is adjusted, and the welding torch 42 is moved to the rib S.
Set at the base of. Then, the base portion of the rib S is welded by the welding torch 42 according to a command from the control device.

As described above, according to the self-propelled welding apparatus using the articulated vehicle of the present invention, the efficiency of the welding work of the ribs of the hull outer plate can be improved.

[0082]

As described above, according to the present invention, it is possible to freely move over obstacles in the direction of travel, and to dramatically improve the mobility of the articulated vehicle. You can

Since the vehicle can be moved while being lifted, a required work can be performed above the vehicle.

[Brief description of drawings]

FIG. 1 is a perspective view of a first embodiment of the present invention.

FIG. 2 is a plan view of the embodiment.

FIG. 3 is a side view of the embodiment.

4 is a cross-sectional view taken along the line AA of FIG.

FIG. 5 is a perspective view of a parallel link manipulator used for the articulation section.

FIG. 6 is a plan view of the parallel link manipulator.

FIG. 7 is a front view of the parallel link manipulator.

FIG. 8 is an explanatory diagram of a structure of a link used in the parallel link manipulator.

FIG. 9 is an explanatory diagram of the operation of the parallel link manipulator, and is a plan view of an initial state.

FIG. 10 is a front view of the same.

FIG. 11 is a perspective view of the same.

FIG. 12 is an explanatory view of the operation of the parallel link manipulator, and is a plan view of a state where the parallel link manipulator is moved in the + Z axis direction.

FIG. 13 is a front view of the same.

FIG. 14 is a perspective view of the same.

FIG. 15 is an explanatory view of the operation of the parallel link manipulator, and is a plan view of a state in which the parallel link manipulator is moved in the + X axis direction.

FIG. 16 is a front view of the same.

FIG. 17 is a perspective view of the same.

FIG. 18 is an explanatory view of the operation of the parallel link manipulator, and is a plan view of a state where the parallel link manipulator is moved in the + Y direction.

FIG. 19 is a front view of the same.

FIG. 20 is a perspective view of the same.

21 is an explanatory diagram of a case where the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which the vehicle is stopped in front of the obstacle. FIG.

22 is an explanatory diagram of a case where the articulated vehicle shown in FIG. 1 gets over an obstacle in a traveling direction, and shows a state in which a front vehicle is lifted. FIG.

23 is an explanatory diagram of a case where the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which the front vehicle has passed over the obstacle. FIG.

FIG. 24 is an explanatory diagram of when the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which the front vehicle has finished getting over the obstacle.

25 is an explanatory diagram of a case where the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which a rear vehicle is lifted.

FIG. 26 is an explanatory diagram of when the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which a rear vehicle has passed over the obstacle.

27 is an explanatory diagram of a case where the articulated vehicle shown in FIG. 1 gets over an obstacle in the traveling direction, and shows a state in which the rear vehicle has finished getting over the obstacle. FIG.

FIG. 28 is an explanatory diagram of a wall surface work by the articulated vehicle.

FIG. 29 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the vehicle is stopped on the side of the obstacle.

FIG. 30 is an explanatory view of when the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the front vehicle is lifted.

FIG. 31 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the front vehicle has passed over the obstacle.

FIG. 32 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the front vehicle has finished getting over the obstacle.

FIG. 33 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which a rear vehicle is lifted.

FIG. 34 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the front vehicle has passed over the obstacle.

FIG. 35 is an explanatory diagram of a case where the same articulated vehicle gets over an obstacle on the left side in the traveling direction, and shows a state in which the rear vehicle has finished getting over the obstacle.

FIG. 36 is an explanatory diagram of an operation of the articulated vehicle of the second embodiment of the present invention, showing an initial state.

FIG. 37 is an explanatory diagram of the operation of the articulated vehicle according to the second embodiment of the present invention, showing a state in which the front vehicle is lifted.

FIG. 38 is an explanatory view of the operation of the articulated vehicle of the second embodiment of the present invention, showing a state in which the front vehicle is pushed forward.

FIG. 39 is an explanatory diagram of the operation of the articulated vehicle according to the second embodiment of the present invention, showing a state in which the front vehicle has dropped to the road surface.

FIG. 40 is an explanatory diagram of the operation of the articulated vehicle according to the second embodiment of the present invention, showing a state in which the rear vehicle is lifted.

FIG. 41 is an explanatory diagram of the operation of the articulated vehicle according to the second embodiment of the present invention, showing a state in which the rear vehicle is pulled toward the front vehicle.

FIG. 42 is an explanatory view of the operation of the articulated vehicle of the second embodiment of the present invention, showing a state in which the rear vehicle has dropped to the road surface.

FIG. 43 is a perspective view of a third embodiment of the present invention.

FIG. 44 is a plan view of the same.

FIG. 45 is a side view of the same.

FIG. 46 is a sectional view taken along line BB in FIG. 44.

[Fig. 47] Fig. 47 is an explanatory diagram of a welding operation by the self-propelled welding apparatus using the articulated vehicle of the present invention, and shows a state in which the root of the rib is welded.

FIG. 48 is an explanatory diagram of a welding operation by the self-propelled welding device using the articulated vehicle of the present invention, showing a state in which the front vehicle is over the rib.

FIG. 49 is an explanatory view of a welding operation by the self-propelled welding apparatus using the articulated vehicle of the present invention, and shows a state in which the front vehicle has passed over the rib.

FIG. 50 is an explanatory view of a welding operation by the self-propelled welding apparatus using the articulated vehicle of the present invention, showing a state in which the base of the upper rib is welded.

FIG. 51 is a schematic view of a hull outer plate on which welding work is performed by the self-propelled welding device.

FIG. 52 is a perspective view of a conventional articulated vehicle.

FIG. 53 is a plan view of a joint section of the vehicle.

[Explanation of symbols]

 1 Front Vehicle 2 Rear Vehicle 3 Relay Plate 4 Front Parallel Link Manipulator 5 Rear Parallel Link Manipulator 6, 7 Wheels 10 Parallel Link Manipulator 11 Base Plate 12 Link 13 Top Plate

Claims (5)

[Claims] 1. An articulated vehicle characterized in that a parallel link manipulator is used for the articulated part. 2. The parallel link manipulator comprises:
2. A relay plate is provided in the middle part of the device.
The articulated vehicle described. 3. The articulated vehicle comprises means for adsorbing the vehicle onto a road surface.
The articulated vehicle described. 4. The articulated vehicle according to claim 3, wherein the attraction means is a magnetic wheel capable of adjusting magnetic force. 5. The articulated vehicle according to claim 1, 2, 3 or 4, wherein a plurality of articulated parts are provided.