JPH0788784A - Robot work vehicle - Google Patents

Abstract

PURPOSE:To perform even work which can not be done by spreading an attachment working range of a work vehicle. CONSTITUTION:A rise/fall unit 5 is mounted on a running vehicle 1 through a supporting point 11. The rise/fall unit 5 is swiveled from a horizontal position to a vertical direction by a hydraulic cylinder 6. A turning base 7 is mounted on the rise/fall unit 5. A working arm 8, comprising a swivel boom 10 and an arm main unit 13, is mounted on this turning base 7. An iron fork 9 is mounted on a point end of the arm main unit 13. When the rise/fall unit 5 is raised in the vertical direction, the arm main unit 13 is placed in a condition vertically hung down from the swivel boom 10. Consequently, downstair work, which can not be performed in the past, can be easily performed from upstairs. Between the running vehicle 1 and the turning base 7 or between the turning base 7 and the working arm 8, a swivel unit, driven to be swiveled (tilted) about a horizontal axis, may be provided. Between the running vehicle and the working arm, a two-step turning base may be provided. A turning part may be provided in one or two parts in the swivel boom 10 of the working arm 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot working vehicle equipped with a work attachment such as an iron fork, and more particularly to a working vehicle suitable for use as a construction robot.

[0002]

2. Description of the Related Art A conventional construction robot has a swivel base mounted on a traveling vehicle and a swinging boom that swings up and down mounted on the swivel base. It has a structure with attachments such as iron forks.

[0003]

SUMMARY OF THE INVENTION In the conventional construction robot described above, the attachment of the attachment is fixed by turning the traveling swivel of the traveling vehicle, swinging the swing boom, and swinging or swinging the arm main body with respect to the swing boom. Although there is a degree of freedom in work, since there are certain limits to the movement and dimensions of each part, for example, work upstairs or downstairs, or work on a high ceiling from the floor, When working on the shaded areas such as pillars,
There is a problem that the movement is restricted and the work range is narrow.

As a method of solving this, it is conceivable that the working arm has a multi-joint structure in which a large number of arm bodies are attached to the tip end of the swinging boom, but the working arm is inevitably long and is usually used. Not only is it impractical because it may hinder the work, and the structure becomes complicated, resulting in high cost, heavy weight, and failure.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot work vehicle capable of expanding a work range by obtaining a large work flexibility of an attachment with a simple structure. .

[0006]

In order to achieve the above object, the invention according to claim 1 of the present invention is a traveling vehicle; a swivel mounted on the traveling vehicle; and a base end on the swivel. A work arm that is pivotally mounted and swingably driven, and a work attachment is attached to the tip side; a work arm that is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm, and is horizontal with one end as a fulcrum And a tilting body which is tilted and driven vertically from a position.

The invention according to claim 2 of the present invention includes: a traveling vehicle; a revolving base mounted on the traveling vehicle; a base end pivotally mounted on the revolving base to be swingably driven, and a tip end. A work arm to which a work attachment is attached; a rocking body that is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm and is swingably driven about a horizontal axis;
It is characterized in that each is provided.

Further, the invention according to claim 3 of the present invention is provided between an upper member and a lower member constituted by any one of a traveling vehicle, a swivel base, a work arm and a rocking body, and a lower member. It is characterized in that a tilting body for tilting and driving the upper member in a range of about 90 degrees is provided with one end side pivotally attached to the fulcrum as a fulcrum.

According to a fourth aspect of the present invention, there is provided a traveling vehicle; a first swivel mounted on the traveling vehicle;
A second swivel mounted on the first swivel and swiveling about an axis different from that of the first swivel; a base end is pivotally mounted on the second swivel to be rockably driven, and a work attachment is provided on the distal end side. A work arm to be attached; a tilting body that is provided between the swivel bases or between the second swivel base and the work arm and is vertically tilted from a horizontal position with one end as a fulcrum. The feature is that it is provided.

According to a fifth aspect of the present invention, the working arm comprises a swinging boom that is bent at an intermediate portion and has a dogleg shape, and an arm that is attached to the tip of the swinging boom and is swingably driven. It is characterized in that it is configured with the main body.

The invention according to claim 6 of the present invention is: a traveling vehicle; a swivel mounted on the traveling vehicle; A work arm to which a work attachment is attached; and a swing boom that is bent at an intermediate portion to form a dogleg; and an arm body that is attached to the tip of the swing boom and is driven to swing. And; and a boom swivel portion for swiveling the tip end side around the axis is provided at a position closer to the base end than the bent portion of the swing boom.

The invention according to claim 7 of the present invention is
It is characterized in that a boom tip turning portion for turning the tip end side about an axis line of the base end side is provided at a position closer to the tip end side than the bent portion of the swing boom.

[0013]

In the invention according to claim 1 of the present invention, the tilting body is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm, and the tilting body has one end as a fulcrum. It is tilted vertically from the horizontal position. For this reason, if the tilting body is raised vertically, for example, the work arm that was swinging up and down swings horizontally and swings back and forth, thus expanding the working range. Becomes Further, by raising the tilting body in the vertical direction, the mounting position of the working arm on the swivel base becomes substantially higher, and the working range can be expanded to a higher position.

Further, in the invention according to claim 2 of the present invention, an oscillating body is provided between the traveling vehicle and the swivel base or between the swivel base and the working arm, and the oscillating body is provided around a horizontal shaft. Is rocking driven. Therefore, when the rocking body is rocked, for example, the swivel, which has swung around the vertical axis, swivels around the horizontal axis, and the same operation as the invention according to claim 1 can be obtained.

Further, in the invention according to claim 3 of the present invention, a tilting body is provided in addition to the swivel base and the rocking body,
This tilting body drives the upper member up and down within a range of about 90 degrees with one end side pivotally attached to the lower member as a fulcrum. Therefore, a greater degree of freedom can be obtained, and the work range of the attachment can be expanded.

Further, in the invention according to claim 4 of the present invention, a tilting body is provided between the first and second swivel bases or between the second swivel base and the work arm, and the tilting body is mounted. The body is vertically driven from the horizontal position with one end as a fulcrum. Further, the turning center positions of the two turning bases are different from each other. For this reason, it is possible to expand the working range particularly facing the rear or left and right.

Further, in the invention according to claim 5 of the present invention, the working arm comprises a swinging boom having a dogleg shape and an arm body attached to the tip of the swinging boom and swingably driven. Has been done. Therefore, it is particularly effective when performing work from the upper floor to the lower floor, or when performing work on a shaded portion such as a pillar.

Further, in the invention according to claim 6 of the present invention, the working arm is composed of a swing boom and an arm body, and the swing boom is provided at a position closer to the base end side than the bent portion thereof. A boom swing unit is provided. Therefore, it is possible to obtain a large degree of freedom with a simpler configuration, to improve the economical efficiency and operability, and it is also advantageous from the viewpoint of the capacity of the drive source using hydraulic pressure and the like.

Further, in the invention according to claim 7 of the present invention, the boom tip turning portion is provided at a position closer to the tip end than the bending portion of the swing boom. Therefore, a greater degree of freedom can be obtained as compared with the case of only the boom swing section.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 to 3 show a work vehicle according to a first embodiment of the present invention. In the drawings, reference numeral 1 is a traveling vehicle having a crawler 2, and both sides of the traveling vehicle 1 are traveling vehicles at the time of work. Outrigger stoppers 3 are provided to obtain the stability of 1.

As shown in FIGS. 1 to 6, on the upper surface of the traveling vehicle 1, there is mounted a tilting body 5 which can swing vertically from a horizontal position with one end in the traveling direction of the traveling vehicle 1 as a fulcrum 4. The tilting body 5 is driven to tilt up and down by the expansion and contraction operation of the hydraulic cylinder 6 assembled in the traveling vehicle 1.

That is, as shown in FIG. 7, the reversing body 5 pivotally attaches both ends of the revolving body 5 to the brackets 1b of the track frame 1a of the traveling vehicle 1 so as to be swingable around the pivotally attached portions. The other end of the tilting body 5 is attached to the hydraulic cylinder 6 pivotally attached to the track frame 1a.
It is pivotally attached to the tip of the cylinder rod of
When the hydraulic cylinder 6 expands and contracts, it moves vertically from the horizontal position.
In addition, it is designed to be tilted in the opposite direction. Figure 7
In the embodiment, the tip of the tilting body 5 is connected to the cylinder rod of the hydraulic cylinder 6, but as shown in FIGS. 1 to 6, the middle of the tilting body 5 is connected to the cylinder rod to tilt it up and down. Of course, it is possible.

As shown in FIGS. 1 to 3, a revolving base 7 is mounted on the revolving body 5 so as to revolve around an axis orthogonal to the revolving body 5. FIG. 7 shows a detailed assembling example thereof, in which the swivel bearing 7a of the swivel base 7 is fixed to the central portion of the tilting body 5, and the swivel base 7a is attached to the rotary member of the swivel bearing 7a. The rotary base of the rotary motor 7b fixed to the rotary base 7 is engaged with the fixed member of the rotary bearing to rotate the rotary base 7 with respect to the tilting body 7.

A work attachment 9 such as an iron fork is detachably attached to the swivel base 7 via a work arm 8. As shown in FIGS. 1, 4, 5, 6, and 7, the working arm 8 is provided with a swinging boom 10 that is bent at an intermediate portion and has a dogleg shape. The base end portion of is pivotally mounted on the swivel base 7 via a mounting pin 11, and is vertically swingable in the horizontal state of the tilting body 5. The swing boom 10 is swing-driven by the expansion and contraction operation of the hydraulic silling 12 assembled between the swivel base 7 and the swing boom 10.

An arm body 13 is pivotally attached to the tip of the swing boom 10 via a mounting pin 14, and the arm body 13 is mounted on the tip end of the swing boom 10 of a hydraulic cylinder 15. By the expansion and contraction operation, the swing boom 10 is swingably driven.

An iron fork as a work attachment 9 is attached to the tip of the arm body 13 as a mounting pin 1.
The attachment 9 is removably attached via 6, and the attachment 9 is opened and closed by the expansion and contraction operation of the hydraulic cylinder 17 assembled to the arm body 13.

Next, the operation of this embodiment will be described.
During normal use of the construction robot, as shown in FIGS. 1 to 3, the hydraulic cylinder 6 is in a contracted state up to the contraction limit, so that the reversible body 5 is in a horizontally fixed state. Has become. In this state, the construction is substantially the same as that of the conventional construction robot that does not have the tilting body 5, and the same movement can be performed by the same operation as that of the conventional construction robot.

On the other hand, for example, when performing work from the upper floor to the lower floor, as shown in FIG. 4, first, the swivel base 7 is swung so that the swing boom 10 swings up and down in front of the traveling vehicle 1. The hydraulic cylinder 6 is extended in this state. Then, the tilting body 5 gradually rises vertically from the horizontal position around the fulcrum 4. Therefore, the tip end side of the swing boom 10 and the arm body 13 are
As shown in FIG. 4, the vehicle extends vertically downward from the traveling vehicle 1, and the downstairs work can be easily performed from the upstairs.

When performing work from the floor surface to the ceiling surface, first, as shown in FIG. 5, the swivel base 7 is swung to swing the swing boom 10 up and down behind the traveling vehicle 1. When the hydraulic cylinder 6 is driven, the hydraulic cylinder 6 is extended in this state. Then, the tilting body 5 is centered on the fulcrum 4,
It will gradually rise from the horizontal position in the vertical direction.
For this reason, the position of the mounting pin 11 at the base end of the swing boom 10 is substantially raised, and the working range can be expanded to a high position that has been impossible in the past.

In the case of performing work on a shaded area such as a pillar, first, as shown in FIG. 6, the swivel base 7 is swiveled so that the swing boom 10 is located on the side of the traveling vehicle 1. The hydraulic cylinder 6 is driven to swing up and down.
To extend. Then, the tilting body 5 gradually rises from the horizontal position in the vertical direction about the fulcrum 4, and the swing boom 10 is driven to swing in the horizontal direction. For this reason, as shown in FIG.
It can be inserted into the back side of the column to perform work on the part hidden behind the column 20.

Therefore, the tilting body 5 is installed between the traveling vehicle 1 and the turntable 7, and the tilting body 5 is made to swing vertically from the horizontal position about the fulcrum 4. Therefore, it is possible to easily perform the work which has been impossible in the past, and to expand the work range. Moreover, since it is only necessary to additionally install the tilting body 5, it is possible to simplify the structure and easily apply it to the existing construction robot.

In the first embodiment described above, the case where the tilting body 5 is provided between the traveling vehicle 1 and the swivel base 7 has been described.
Is rotatably provided on the frame of the traveling vehicle 1, and
The tilting body 5 may be provided on the swivel base 7. in this case,
A stay is integrally formed on the tilting body 5, and the work arm 8 is pivotally attached to the stay. Needless to say, the hydraulic cylinder 6 that drives the tilting body 5 is installed on the swivel base 7 and the tilting body 7. With this configuration, the tilting direction of the tilting body 5 can be set at an arbitrary position around the traveling vehicle 1, and the number of times of changing the direction of the traveling vehicle 1 can be reduced.

8 and 9 show a second embodiment of the present invention, in which an oscillating body 21 is interposed between the traveling vehicle 1 and the tilting body 5 in the first embodiment. It is a thing.

That is, as shown in FIGS. 8 and 9, the rocking body 21 has rocking fulcrum shafts 23 supported by supporting members 22 provided at the front and rear ends of the traveling vehicle 1 in the traveling direction. The moving body 21 is tilted or rocked in the vertical direction in FIG. 9, that is, in the left and right directions of the traveling vehicle 1, for example, 90 degrees in a total range of 180 degrees, by driving a hydraulic motor or the like (not shown). ing.
In other respects, the structure is the same as that of the first embodiment and the operation is the same.

Since the rocking body 21 is also provided in addition to the tilting body 5, the working range in the vertical and horizontal directions can be expanded as compared with the case of the first embodiment.

In the second embodiment, the rocking body 21 is mounted on the traveling vehicle 1, the tilting body 5 is mounted on the rocking body 21, and the swivel base 7 is mounted on the tilting body 5. The case where the rocking body 21 is mounted is described above.
The upper and lower positions of the tilting body 5 and the swivel base 7 may be in any order and can be appropriately selected according to the purpose of use and the like. For example, the revolving base 7, the oscillating body 21, and the tilting body 5 may be arranged in this order from the lower side, or the reversing body 5, the revolving base 7, and the oscillating body 21 may be arranged in this order. The order of the collapsed body 5 may be used, or another order may be used.

In the second embodiment, the case where both the tilting body 5 and the oscillating body 21 are provided has been described, but when the degree of freedom of the same degree as in the case of the first embodiment is sufficient, The tilting body 5 may be omitted. In this case as well, it goes without saying that there is no limitation on the order of the vertical positions of the swivel base 7 and the oscillating body 21.

10 and 11 show a third embodiment of the present invention, in which a second swivel base 31 is interposed between the traveling vehicle 1 and the tilting body 5 in the first embodiment. It was done like this.

That is, the second swivel base 31 is shown in FIG.
As shown in FIG. 11 and FIG. 11, it is interposed between the traveling vehicle 1 and the tilting body 5, and its turning center line O ₂ is the turning base 7.
Is set at a position different from the turning center line O ₁ . In other respects, the structure is the same as that of the first embodiment and the operation is the same.

Then, in addition to the tilting body 5, the second swivel base 3
Since 1 is also provided, the tilting direction of the tilting body 5 can be arbitrarily set, and the range in which continuous work can be performed can be expanded. Further, since the positions of the swivel center lines O ₁ and O ₂ of the swivel bases 7 and 31 are different from each other, the working range can be expanded according to the offset amount.

In the third embodiment, the case where the second swivel base 31 is set between the traveling vehicle 1 and the tilting body 5 has been described. The upper and lower positions of may be reversed. Further, not limited to the combination of the tilting body 5 and the second swivel base 31, for example, the rocking body 21 and the second swivel base 31 in the second embodiment may be combined, or the tilting body 5 and the rocking body 31. 21 and the second swivel base 31 may be combined. Also in this case, it goes without saying that there is no limitation on the order of the vertical positions of the tilting body 5, the rocking body 21, or the second swivel base 31.

FIG. 12 shows a fourth embodiment of the present invention, in which the tilting body 5 in the first embodiment is omitted, and the rocking boom 10 is closer to the base end side than the V-shaped bent portion. The boom turning mechanism 41 is provided at the position.

That is, as shown in FIG. 12, the boom swing mechanism 41 is provided at a position closer to the base end than the dogleg-shaped bent portion of the swing boom 10, and the boom swing mechanism 41 is driven. Thus, the tip end side portion of the boom turning mechanism 41 turns around the axis of the base end side portion. In other respects, the structure is the same as that of the first embodiment and the operation is the same.

However, by providing the boom turning mechanism 41, the same function as that in the case of the third embodiment can be obtained with one axis less construction, and the economical efficiency and operability can be improved. There is also a great advantage in terms of hydraulic capacity.

FIG. 13 shows a fifth embodiment of the present invention, in which a boom tip turning mechanism 51 is additionally provided in addition to the structure of the fourth embodiment.

That is, the boom tip turning mechanism 51.
As shown in FIG. 13, is provided at a position closer to the tip side than the dogleg-shaped bent portion of the swing boom 10, and by driving the boom tip turning mechanism 51, the boom tip turning mechanism 5 is driven.
The part of the No. 1 on the tip end side turns around the axis of the part on the base end side. The other points are the same as those of the fourth embodiment, and the operation is the same.

Since the boom tip turning mechanism 51 is provided in addition to the boom turning mechanism 41, not only the position control of the work attachment 9 but also the direction control thereof can be performed, and the workability can be further improved. .

In the fourth and fifth embodiments, the swivel base 7 is provided between the traveling vehicle 1 and the working arm 8.
Although only the case of setting the swivel base has been described, the tilting body 5, the swinging body 21, the second swivel base 31, or the like may be appropriately selected and used instead of the swivel base 7.
The tilting body 5, the swing body 21, and the second swivel base 31 may be used in an appropriate combination. In that case, needless to say, there is no limitation on the order of their vertical positions, as in the case of each of the above-described embodiments.

In each of the above-described embodiments, the case where the invention is applied to the construction robot has been described, but the invention can also be applied to a general civil engineering machine as long as the horizontal state of the driver's seat is always ensured. Also, the attachment 9
Not only the iron fork but also various members such as a vacuum, a gondola, and an excavator can be applied.

Further, in each of the above-described embodiments, the case where the working arm 8 is composed of the swing boom 10 and the arm body 13 has been described, but it goes without saying that a working arm having a structure other than this can also be used. Nor.

[0051]

As described above, in the invention according to claim 1 of the present invention, the tilting body is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm. By tilting the tilting body vertically from the horizontal position, the work range in the left-right direction and the vertical direction can be expanded, which is particularly effective for use as a construction robot.

Further, according to the second aspect of the present invention, since the rocking body is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm, the rocking body is rocked. By doing so, for example, the revolving base that has revolved around the vertical axis can be revolved around the horizontal axis, and the same effect as the invention according to claim 1 can be obtained.

Further, in the invention according to claim 3 of the present invention, since the tilting body is provided in addition to the swivel base and the rocking body, a greater degree of freedom can be obtained and the operation range of the attachment is expanded. It is possible to reduce the movement of the traveling vehicle itself.

Further, the invention according to claim 4 of the present invention is such that a tilting body is provided between the first and second swivel bases or between the second swivel base and the working arm, and both swivel bases are provided. Since the turning center position of the platform is set to a different position, it is possible to expand the working range particularly directed to the rear or left and right.

According to a fifth aspect of the present invention, the working arm comprises a dogleg-shaped swinging boom and an arm body attached to the tip of the swinging boom and swingably driven. Therefore, it is particularly effective when, for example, performing work from the upper floor to the lower floor, or performing work on a shaded place such as a pillar.

According to a sixth aspect of the present invention, the work arm is composed of the swing boom and the arm body, and the boom swinging portion is provided at a position closer to the base end than the bent portion of the swing boom. Since it is provided, a large degree of freedom can be obtained with a simpler configuration, the economical efficiency and operability can be improved, and it is also advantageous from the viewpoint of the capacity of the drive source using hydraulic pressure or the like.

Further, the invention according to claim 7 of the present invention is
Since the boom swivel portion is provided at a position closer to the tip end than the bent portion of the swing boom, a greater degree of freedom can be obtained than in the case of only the boom swivel portion.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a work vehicle according to a first embodiment of the present invention.

FIG. 2 is a plan view of an essential part of FIG.

FIG. 3 is a right side view of a main part of FIG.

FIG. 4 is an explanatory diagram showing a state when performing work from the upper floor to the lower floor.

FIG. 5 is an explanatory diagram showing a state when performing work on the ceiling surface from above the floor surface.

FIG. 6 is an explanatory diagram showing a state in which work is performed on a portion that is behind the pillar.

FIG. 7 is an assembly configuration diagram of a work vehicle according to the first embodiment of the present invention.

FIG. 8 is an overall configuration diagram showing a work vehicle according to a second embodiment of the present invention.

9 is a plan view of an essential part of FIG.

FIG. 10 is an overall configuration diagram showing a work vehicle according to a third embodiment of the present invention.

FIG. 11 is a plan view of an essential part of FIG.

FIG. 12 is an overall configuration diagram showing a work vehicle according to a fourth embodiment of the present invention.

FIG. 13 is an overall configuration diagram showing a work vehicle according to a fifth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Running vehicle, 1a ... Truck frame, 1b ... Bracket, 4 ... Support point, 5 ... Inclination body, 6, 12, 1
5, 17 ... Hydraulic cylinder, 7 ... Revolving base, 7a ... Revolving bearing, 7b ... Revolving motor, 8 ... Working arm,
9 ... Work attachment, 10 ... Swing boom, 1
1, 14, 16 ... Mounting pin, 20 ... Pillar, 21 ... Oscillating body, 22 ... Support member, 23 ... Oscillating fulcrum shaft, 31 ...
Second swivel base, 41 ... boom pivoting mechanism, 51 ... boom tip turning mechanism, O _1, O ₂ ... pivot axis.

Claims (7)

[Claims] 1. A traveling vehicle; a swivel mounted on the traveling vehicle; a working arm having a base end pivotally mounted on the swivel and swingably driven, and a working attachment attached to a distal end side; A tilting body which is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm and which is vertically tilted from a horizontal position with one end as a fulcrum. Robot work vehicle to do. 2. A traveling vehicle; a swivel mounted on the traveling vehicle; a working arm having a base end pivotally mounted on the swivel and swingably driven, and a working attachment attached to the distal end side; A rocking body which is provided between the traveling vehicle and the swivel base or between the swivel base and the work arm and which is rockably driven around a horizontal axis. 3. An end side which is provided between an upper member and a lower member and is pivotally attached to the lower member and which is formed of any one of a traveling vehicle, a swivel base, a work arm and an oscillating body, is a fulcrum. The robot working vehicle according to claim 2, further comprising a tilting body that tilts and drives the upper member within a range of approximately 90 degrees. 4. A traveling vehicle; a first swivel mounted on the traveling vehicle; a second swivel mounted on the first swivel and turning around an axis different from that of the first swivel; A work arm having a base end pivotally mounted on the two swivel bases and swingably driven, and a work attachment attached to the distal end side; provided between the both swivel bases or between the second swivel base and the work arm;
A tilting body that is tilted and driven vertically from a horizontal position with one end as a fulcrum, and a robot working vehicle. 5. The working arm is provided with a swinging boom that is bent at an intermediate portion and has a V-shape, and an arm body that is attached to the tip of the swinging boom and is swingably driven. The robot work vehicle according to claim 1, 2, 3, or 4. 6. A traveling vehicle; a revolving base mounted on the traveling vehicle; a working arm having a base end pivotally mounted on the revolving base and swingably driven, and a work attachment attached to the distal end side; The working arm includes a swinging boom that is bent at an intermediate portion and has a V-shape; and an arm body that is attached to a tip of the swinging boom and is swingably driven. The robot working vehicle is characterized in that it has a boom revolving portion for revolving the tip end side around the axis at a position closer to the base end side than the bent portion. 7. The swing boom has a boom tip turning portion for turning the tip end around an axis line on the base end side at a position closer to the tip end than the bent portion. The robot work vehicle described.