JPS60135380A - Self-propelled vehicle - Google Patents
Self-propelled vehicleInfo
- Publication number
- JPS60135380A JPS60135380A JP58251993A JP25199383A JPS60135380A JP S60135380 A JPS60135380 A JP S60135380A JP 58251993 A JP58251993 A JP 58251993A JP 25199383 A JP25199383 A JP 25199383A JP S60135380 A JPS60135380 A JP S60135380A
- Authority
- JP
- Japan
- Prior art keywords
- running surface
- self
- propelled vehicle
- rotating plate
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、駆動車輪に回転力を伝達する手段として、走
行面に垂直な軸を有する回転板の走行面側の面の軸から
外れた部分を該車輪の外周部分に接触せしめることによ
り、該回転板から該車輪に回転力を伝達する回転力伝達
機構を用いたことを特徴とする自走車両に関する。まだ
、該回転板の外周部分に走行面を清掃、研磨、清拭等す
る為のブラシ、研磨紙布、繊維等の表面処理材料を装着
することにより走行面の表面処理を行う自走車両に関す
る。さらにまだ、該回転板の外周部分を包囲しかつ自由
端が走行面に柔軟に密着する環状の仕切壁と該回転板に
より吸盤を構成せしめ、該吸盤の内部に減圧領域を生成
せしめることにより走行面に吸着したままから自走が可
能な自走車両に関する。さらにつけ加えると、走行面に
吸着したまま自走が可能でかつ同時に走行面の表面処理
も可能な自走車両に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention provides a means for transmitting rotational force to a driving wheel by converting a portion of a rotary plate having an axis perpendicular to the driving surface, which is located off the axis of the surface on the driving surface side, into an outer peripheral portion of the wheel. The present invention relates to a self-propelled vehicle characterized in that it uses a rotational force transmission mechanism that transmits rotational force from the rotating plate to the wheels by contacting with the wheels. Still related to self-propelled vehicles that perform surface treatment on the running surface by attaching surface treatment materials such as brushes, abrasive paper cloth, fibers, etc. for cleaning, polishing, wiping, etc. the running surface to the outer periphery of the rotary plate. . Furthermore, a suction cup is formed by the rotary plate and an annular partition wall that surrounds the outer circumference of the rotary plate and has a free end that flexibly adheres to the running surface, and a depressurized area is created inside the suction cup. This invention relates to a self-propelled vehicle that is capable of self-propelled while adhering to a surface. In addition, the present invention relates to a self-propelled vehicle that is capable of self-propelled while adhering to a running surface, and is also capable of surface treatment of the running surface.
−従来、駆動車輪に回転力を伝達する手段としては種々
の技術が提案されているが、本発明のように走行面に垂
直な原動軸から走行面に平行な従動軸すなわち車軸へ回
転力を伝達する手段としては一般にがさ歯車ユニットあ
るいはウオーム歯車ユニット等の直交軸間に回転力を伝
達できる歯車ユニットが用いられている。ところが従来
の歯車ユニフトは形状が大きく、重量も重いといった欠
点があった。そこで本発明においては、構造が簡単かつ
形状がコンパクトしかも重量も軽いといった特徴を有す
る回転力の伝達手段を具備する自走車両を提案するもの
である。まだ、駆動車輪に回転力を伝達する為に設けた
回転板の外周部分にブラシ等の走行面の表面処理を行う
材料を装着することにより、該車輪の駆動源と同一の駆
動源により走行面の表面処理も行わせしめるといった一
石二鳥の効果を有する自走車両を提案するものである。- Conventionally, various techniques have been proposed as means for transmitting rotational force to drive wheels, but as in the present invention, rotational force is transmitted from a driving shaft perpendicular to the running surface to a driven shaft, that is, an axle parallel to the running surface. Generally, a gear unit such as a bevel gear unit or a worm gear unit that can transmit rotational force between orthogonal axes is used as a transmission means. However, conventional gear unit lifts had the disadvantages of being large and heavy. Therefore, the present invention proposes a self-propelled vehicle equipped with a rotational force transmitting means that has a simple structure, a compact shape, and a light weight. However, by attaching a brush or other material for surface treatment of the running surface to the outer periphery of the rotary plate provided to transmit rotational force to the drive wheels, the running surface can be treated by the same drive source as that of the wheels. The purpose of this project is to propose a self-propelled vehicle that can kill two birds with one stone by allowing surface treatment to be performed.
さらにまた、本発明は前記に構造を略述したとおりの走
行面に吸着したままかつ自走できる構造を有する為、従
来の自走車両では不可能であった壁面や天井面での吸着
自走が可能で、あるいは同時に走行面の表面処理も可能
な自走車両を提案するものである。なお、走行面の清浄
を目的とする表面処理を行う際、走行面に付着している
油脂等の粘着性の有る汚れが自走車両の車輪に付着し、
清浄化後の走行面に車輪の汚れを再びつけてし捷う場合
があるが、本発明においては車輪の汚れを除去する方法
もあわせて提案するものである。Furthermore, since the present invention has a structure that allows it to run on its own while adhering to the running surface as outlined above, it can be adsorbed on walls and ceilings, which was impossible with conventional self-propelled vehicles. The purpose of this project is to propose a self-propelled vehicle that is capable of surface treatment of the running surface. In addition, when performing surface treatment for the purpose of cleaning the running surface, sticky dirt such as oil and fat on the running surface may adhere to the wheels of the self-propelled vehicle.
In some cases, dirt from the wheels may be reattached to the running surface after cleaning and then removed, but the present invention also proposes a method for removing dirt from the wheels.
以下、本発明の実施例の図面により詳細な説明を行うも
のとする。DESCRIPTION OF THE PREFERRED EMBODIMENTS A detailed explanation of embodiments of the present invention will be given below with reference to the drawings.
第１図乃至第３図において、走行面１ａに平行な部分と
垂直な部分を有する４個のＬ字形の軸棒３が枠体２の四
隅−の軸保持部２ａの穴に回転可能なよう挿入されてお
り、それぞれの軸棒３の走行面１ａに平行な部分には車
輪４が回転可能なよう挿入されている。また垂直な部分
には回転板５が回転可能なよう挿入されており、回転板
５の輪心部にはスプロケット６が固着されている。４個
の軸棒３は軸保持部２ａの上部に固着されたロータリー
アクチュエータ８によりそれぞれ回転せられるよう該ロ
ータリーアクチーエータの出力軸と該軸棒は軸継手９に
より連結されている。In FIGS. 1 to 3, four L-shaped shaft rods 3 having portions parallel and perpendicular to the running surface 1a are rotatably inserted into holes in the shaft holding portions 2a at the four corners of the frame 2. A wheel 4 is rotatably inserted into a portion of each shaft rod 3 parallel to the running surface 1a. Further, a rotary plate 5 is rotatably inserted into the vertical portion, and a sprocket 6 is fixed to the center portion of the rotary plate 5. The output shaft of the rotary actuator and the four shaft rods are connected by a shaft coupling 9 so that the four shaft rods 3 can be respectively rotated by a rotary actuator 8 fixed to the upper part of the shaft holding part 2a.
１０は軸棒３が軸保持部２ａから脱落するのを防止し、
かつ回り止め用のピン、１１はキーである。壕だ７は回
転板５と軸保持部２ａを離れさす方向に力を作用させる
コイルバネである。また枠体２にはギャードモータ１２
が固着されており、ギャードモータ１２の駆動軸に固着
されたスプロケット１２ａと４個のスプロケット６の間
にはローラーチェーン１３が装着されている。10 prevents the shaft rod 3 from falling off from the shaft holding part 2a;
The rotation prevention pin 11 is a key. The groove 7 is a coil spring that applies force in a direction to separate the rotating plate 5 and the shaft holding portion 2a. Also, the frame body 2 has a guard motor 12.
A roller chain 13 is attached between the sprocket 12a fixed to the drive shaft of the geared motor 12 and the four sprockets 6.
以上のように構成された装置において、ギャードモータ
１２を駆動すると４個の回転板５が回転し、各回転板５
はコイルバネ７によシ車輪４の外周部分に押しつけられ
ているので摩擦力の作用により回転板５よシ車輪４へ回
転力が伝達され、装置は自走するものである。また、ロ
ータリーアクチュエータ８により軸棒３をわずかに回転
させて車輪４０車軸の向きを変えてやることにより装置
の自走方向を変更することもできる。In the device configured as described above, when the geared motor 12 is driven, the four rotary plates 5 rotate, and each rotary plate 5
is pressed against the outer periphery of the wheel 4 by the coil spring 7, and the rotational force is transmitted from the rotary plate 5 to the wheel 4 by the action of frictional force, and the device is self-propelled. Furthermore, by slightly rotating the shaft 3 using the rotary actuator 8 and changing the direction of the wheel 40 axle, the direction in which the device runs can be changed.
なお第３ａ図のように、ロータリーアクチュエータ８の
出力軸に固着された軸継手９ａの軸棒３が挿入される穴
をスプラインにし、軸棒３の軸端をスプライン軸とした
スプライン継手機構により軸棒３とロータリーアクチュ
エータ８の出力軸を連結化でもよい。As shown in Fig. 3a, the hole into which the shaft rod 3 of the shaft joint 9a fixed to the output shaft of the rotary actuator 8 is inserted is made into a spline, and the shaft end is formed into a spline joint mechanism with the shaft end as a spline shaft. The rod 3 and the output shaft of the rotary actuator 8 may be connected.
第４図は、第１図乃至第３図の回転板５の外周部分に環
状のブラシ１４が固着された状態を示すものであるが、
回転板５０回転かつ装置の自走につれブラシ１４の自由
端が走行面１ａをブラシアンプするものである。なお、
ブラシに変えて研磨紙布や繊維等の各種の表面処理を行
う材料を目的に応じてそれぞれ固着すると、走行面に対
し、研磨、清拭、清掃等の表面処理を行うことができる
。FIG. 4 shows a state in which the annular brush 14 is fixed to the outer peripheral portion of the rotary plate 5 shown in FIGS. 1 to 3.
As the rotary plate 50 rotates and the device moves freely, the free end of the brush 14 brush-amps the running surface 1a. In addition,
If instead of a brush, various surface treatment materials such as abrasive paper cloth or fibers are fixed depending on the purpose, surface treatments such as polishing, wiping, and cleaning can be performed on the running surface.
第４ａ図乃至第４ｂ図は、第１図乃至第４図の回転板５
０車輪４と接触する部分に放射状に配列された多数のＶ
字形歯を有する環状板５ａが固着された状態を示すもの
である。環状板５ａの歯の作用は、車輪４の外周部分の
素材がゴム等の柔軟材料であれば回転板５と車輪４の摩
擦力を増して伝達トルクを増加させる作用の仲に、走行
面に油脂等の粘着性のある汚れがある時に車輪４の外周
部分に付着した汚れを歯によシかき落とす作用がある。FIGS. 4a and 4b show the rotary plate 5 of FIGS. 1 through 4.
A large number of Vs are arranged radially in the part that contacts the zero wheel 4.
This shows a state in which the annular plate 5a having letter-shaped teeth is fixed. If the outer circumference of the wheel 4 is made of a flexible material such as rubber, the action of the teeth on the annular plate 5a is to increase the frictional force between the rotary plate 5 and the wheel 4 and increase the transmitted torque, and also to increase the transmission torque on the running surface. When there is sticky dirt such as oil or fat, it has the effect of scraping off the dirt attached to the outer peripheral part of the wheel 4 with the teeth.
その原理は、環状板５ａの内周部分の周速度と外周部分
の周速度が異なるのに対し、環状板５ａの内周部分から
外周部分にかけて線接触する車輪４の外周部分の周速度
は同一速度であるため車輪４はその外周部分と環状板５
ａとの接触部分において常に一部分がスリップしながら
回転力が伝達される状態となり、よって環状板５ａの歯
により車輪４の外周部分をこそける作用が発生すること
による。また、歯のかわりに鋭いエツジを有する構が環
状板に配列されてもよい。まだ、歯もしくは構が配列さ
れた環状板に変えて、消ゴムの素材と同一の素材からな
る環状板を回転板５に固着して上述のスリップ現象によ
シ車輪４の外周部分を消磨するか、あるいはまた、回転
板５の回転につれ車輪４の外周部分がプランアップされ
るよう環状のブラシを回転板５に固着してもよい。The principle is that the circumferential speed of the inner circumferential portion of the annular plate 5a is different from that of the outer circumferential portion, whereas the circumferential speed of the outer circumferential portion of the wheel 4 in line contact from the inner circumferential portion to the outer circumferential portion of the annular plate 5a is the same. Because of the speed, the wheel 4 has its outer circumference and the annular plate 5.
This is because the rotational force is transmitted while a part of the contact portion with the wheel 4 always slips, and the teeth of the annular plate 5a generate an effect of scraping the outer peripheral portion of the wheel 4. Also, instead of teeth, structures with sharp edges may be arranged on the annular plate. Alternatively, instead of using an annular plate on which teeth or structures are arranged, an annular plate made of the same material as the eraser may be fixed to the rotary plate 5 to erase the outer circumferential portion of the wheel 4 to avoid the above-mentioned slipping phenomenon. Alternatively, an annular brush may be fixed to the rotary plate 5 so that the outer peripheral portion of the wheel 4 is raised as the rotary plate 5 rotates.
第５図乃至第８図は、第１図乃至第３図の技術を利用し
かつ走行面に吸着した捷ま自走する機能を追加した自走
車両を図示している。第５図乃至第８図の自走車両は全
輪駆動方式の３個の車輪を保有しており、第５図におけ
る下側の左右２個の車輪１７ａの車軸の向きは枠体１５
に対して不変であり、上側の車輪１７ｂの車軸の向きは
ロータリ−アクチュエータ１７ｂによシ任意に可変であ
り、該自走車両は車輪１７ｂにより操向されるものであ
る。第７図において、走行面１ｂに平行な部分と垂直な
部分を有するＬ字形の軸棒１．６ａが枠体１５の軸保持
部１５ａの穴に挿入されてナノ）１６ｂにて固着されて
いる。１６ｃは軸棒１６ａの回り止め用のキーである。FIGS. 5 to 8 illustrate a self-propelled vehicle that utilizes the techniques shown in FIGS. 1 to 3 and has an added function of self-propelling by adhering to a running surface. The self-propelled vehicle shown in FIGS. 5 to 8 has three wheels of an all-wheel drive system, and the axle directions of the two lower left and right wheels 17a in FIG.
The direction of the axle of the upper wheel 17b can be arbitrarily varied by the rotary actuator 17b, and the self-propelled vehicle is steered by the wheel 17b. In FIG. 7, an L-shaped shaft rod 1.6a having a portion parallel and a portion perpendicular to the running surface 1b is inserted into a hole in the shaft holding portion 15a of the frame 15 and fixed with a nano) 16b. . 16c is a key for preventing rotation of the shaft rod 16a.
軸棒１６ａの走行面１１）に平行な部分には車輪１７ａ
が回転可能なよう挿入されている。まだ垂直な部分には
回転板１８がその輪心部１８ａにて自由に回転かつ軸棒
１６ａに沿ってスライド可能なよう挿入されており、回
転板１８の外周部分には両端が開口した円筒１８ｂが溶
着され、捷だ円筒１８ｂの外周部分にはスプロケット１
９が溶着されている。まだ回転板１８は多数の孔１８ｃ
を有している。軸棒１６ａの走行面１ｂに垂直な部分に
はさらに円板２２がその輪心部２２ａにて軸棒１６ａに
沿って自由にスライド可能なよう挿入されており、円板
２２の外周部分には一方が開口した円筒２２ ｂが溶着
されている。々お、輪心部１８ａと２２ ａの端面部は
接触しているが、同一の外径寸法を有する円筒１８ｂと
２２ ｂＤ端面部は接触していない。１だ、円板２２が
回転しないように円板２２に溶着されたビン２２ ｃが
枠体１５の穴に比較的ルーズに挿入されている。また、
円筒１８ｂの走行面ｌｂ側の開口部の外周には断面が半
円状でかつゴム等の柔軟材料からなる環状の仕切壁２０
がスチールバンド２１にて固着されており、該仕切壁２
０の自由端は走行面１ｂに柔軟に密着している。また円
筒ｉｓｂのもう一つの開口部の外周と円筒２２ｂの開口
部の外周にはゴム等の柔軟材料からなる円筒状のシール
２３が装着され、該シール２３はスチールバンド２４に
て円筒２２ｂに固着されている。Wheels 17a are provided on the part parallel to the running surface 11) of the shaft 16a.
is inserted so that it can be rotated. A rotary plate 18 is inserted into the still vertical portion so that it can freely rotate at its ring center 18a and slide along the shaft 16a, and a cylinder 18b with open ends at both ends is inserted into the outer peripheral portion of the rotary plate 18. is welded, and a sprocket 1 is attached to the outer circumference of the twisted cylinder 18b.
9 is welded. The rotating plate 18 still has many holes 18c.
have. A disk 22 is further inserted into the portion of the shaft rod 16a perpendicular to the running surface 1b so that it can freely slide along the shaft rod 16a at its ring center portion 22a, and the outer peripheral portion of the disk 22 is A cylinder 22b with one end open is welded. The end surfaces of the ring cores 18a and 22a are in contact with each other, but the end surfaces of the cylinders 18b and 22bD, which have the same outer diameter, are not in contact with each other. 1, the bottle 22c, which is welded to the disc 22, is inserted relatively loosely into the hole in the frame 15 so that the disc 22 does not rotate. Also,
At the outer periphery of the opening on the running surface lb side of the cylinder 18b, there is an annular partition wall 20 having a semicircular cross section and made of a flexible material such as rubber.
is fixed with a steel band 21, and the partition wall 2
The free end of 0 is flexibly attached to the running surface 1b. Further, a cylindrical seal 23 made of a flexible material such as rubber is attached to the outer periphery of the other opening of the cylinder isb and the outer periphery of the opening of the cylinder 22b, and the seal 23 is fixed to the cylinder 22b with a steel band 24. has been done.
一方該シール２３の自由端は円筒ｉｓｂの外周面に柔軟
に密着し、円筒１８ｂが回転しても円筒１８ｂと２２
ｂの間のすきまより流体が流入するのを阻止するもので
あり、走行面１ｂと仕切壁２０と円筒１８ｂ及び２２
ｂとシール２３と円板２２により包囲された部分に流密
な空間が形成されている。また、この流密な空間に存在
する流体を該空間外に排出する為のサクションホース３
２を該空間に連通連結させるエルボ形の管継手２２ｄが
円板２２に溶着されている。なお、第７図は第５図にお
けるｎ−Ｔｌの断面図であるが、第５図において下側左
の軸棒も第７図と同様に枠体１５に固着されている。壕
だ該軸棒に挿入された各部品により構成された構造も第
７図と同様アある。第８図において、軸棒１６ｂの走行
面１ｂに垂直な部分の軸端部は枠体１５の軸保持部１５
ｂの穴に自由に回転可能な状態で挿入された後、軸継手
２６の穴に挿入されてビン２７にて該軸継手２６に固着
されている。該軸継手２６の仙方の穴には軸保持部１５
ｂに固着されたロータリーアクチュエータ２５の出力軸
が挿入されている。２８は回り止め用のキーである。な
お、軸棒１６ｂに挿入されたその仙の各部品により構成
された構造は第７図と同様である。第５図乃至第８図に
おいて、枠体１５にはギャードモータ２９が固着され、
該ギャードモータ２９の出力軸に固着されたスプロケノ
）２９ａと３個のスプロケット１９の間にはローラーチ
ェーン３０が装着されている。まだ３個の管継手２２ｄ
のそれぞれに挿入されて固着された３本のザクジョンホ
ース３１．３２．３３ のそれぞれの開口端は３個の小
径管用の管継手と１個の大径管用の管継手を有する管継
手ユニット３４に挿入されて固着されており、該管継手
ユニット３４の大径管用の管継手部分にはサクションホ
ース３５が挿入されて固着され、該サクションホース３
５のもう１つの端部は図示していないが真空ポンプや水
ポンプ等の流体を吸引、排出するポンプ（以下、減圧源
と呼称する）の吸引口に連通連結されている。On the other hand, the free end of the seal 23 flexibly adheres to the outer peripheral surface of the cylinder isb, so that even if the cylinder 18b rotates, the cylinders 18b and 22
This prevents fluid from flowing into the gap between the running surface 1b, the partition wall 20, and the cylinders 18b and 22.
A fluid-tight space is formed in a portion surrounded by b, the seal 23, and the disk 22. Also, a suction hose 3 for discharging the fluid existing in this flow-tight space to the outside of the space.
An elbow-shaped pipe joint 22d is welded to the disc 22 to connect the pipe 2 to the space. Note that FIG. 7 is a sectional view taken along the line n-Tl in FIG. 5, and the lower left shaft rod in FIG. 5 is also fixed to the frame 15 in the same manner as in FIG. 7. The structure made up of the parts inserted into the shaft of the groove is also similar to that shown in FIG. In FIG. 8, the shaft end portion of the shaft rod 16b perpendicular to the running surface 1b is connected to the shaft holding portion 15 of the frame 15.
After being inserted into the hole b in a freely rotatable state, it is inserted into the hole of the shaft joint 26 and fixed to the shaft joint 26 with a pin 27. A shaft holding portion 15 is provided in the sacral hole of the shaft joint 26.
The output shaft of a rotary actuator 25 fixed to b is inserted. 28 is a key for preventing rotation. Note that the structure constituted by the various parts inserted into the shaft rod 16b is the same as that shown in FIG. 7. In FIGS. 5 to 8, a guard motor 29 is fixed to the frame 15,
A roller chain 30 is installed between the sprocket 29a fixed to the output shaft of the geared motor 29 and the three sprockets 19. There are still 3 pipe fittings 22d
The open ends of the three Zakujo hoses 31, 32, and 33 are inserted and fixed into each of the pipe joint units 34, which have three pipe joints for small diameter pipes and one pipe joint for large diameter pipes. A suction hose 35 is inserted into and secured to the large-diameter pipe joint portion of the pipe joint unit 34, and the suction hose 35 is inserted into and secured to the pipe joint unit 34 for large diameter pipes.
Although not shown, the other end of 5 is connected to a suction port of a pump (hereinafter referred to as a pressure reduction source) that sucks and discharges fluid, such as a vacuum pump or a water pump.
以上のように構成された装着において、減圧源が運転を
開始すると、走行面１ｂと仕切壁２０と円筒ｉｓｂ及び
２２ｂと円板２２とシール２３により包囲された空間は
、該空間に存在した流体が減圧源により吸引、排出され
て減圧された状態となり、よって外部流体の圧力により
円板２２は走行面１ｂの方向に押され、それにともない
回転板１８も同方向に押されて車輪１７ａもしくは１７
ｂの外周部分と該回転板１８の接触圧力を増大させる。In the installation configured as described above, when the reduced pressure source starts operating, the space surrounded by the running surface 1b, the partition wall 20, the cylinders ISB and 22b, the disc 22, and the seal 23 is filled with the fluid that existed in the space. is suctioned and discharged by the decompression source, and becomes in a depressurized state. Therefore, the pressure of the external fluid pushes the disk 22 in the direction of the running surface 1b, and accordingly, the rotary plate 18 is also pushed in the same direction, and the wheel 17a or 17
The contact pressure between the outer peripheral portion of b and the rotary plate 18 is increased.
また、車輪１７ａ、１７ｂは回転板１８により走行面１
ｂの方向へ押しつけられているので走行面１ｂが壁面で
あっても該車輪を保持する枠体１５は落下することなく
壁面上に保持されるものである。次に、ギャードモータ
２９が運転されると、回転板１８の回転にともない車輪
１７ａ及び１７ｂにも回転力が伝達されて装置は走行面
１ｂに吸着したまま自走する。なお、仕切壁２０は装置
が自走してもめくれず、かつ走行面１ｂに柔軟に密着し
て流体の侵入を阻止するとともに走行面と接触する部分
の摩擦抵抗により装置の自走を阻害しない機能を有して
い々ければならないが、本発明者はすでに実用新案登録
第１４９７７２２号等において、吸盤が被吸着面に吸着
した一部、まかつ被吸着面に沿って移動できる技術を提
案している。なお、本発明の仕切壁は上述の機能を有し
ていれば実施例に示しだ構造の仕切壁に限定しなくても
よい。まだ仕切壁がプラン、研摩紙布、繊維等の走行面
に対し清掃、研磨、清拭等の表面処理を行う材料からな
る仕切壁であれば、装置は自走しながら同時に走行面の
表面処理をも行うことができるものである。Furthermore, the wheels 17a and 17b are connected to the running surface 1 by the rotary plate 18.
Since the wheel is pressed in the direction b, even if the running surface 1b is a wall surface, the frame body 15 holding the wheel is held on the wall surface without falling. Next, when the geared motor 29 is operated, rotational force is transmitted to the wheels 17a and 17b as the rotary plate 18 rotates, and the device moves by itself while adhering to the running surface 1b. Note that the partition wall 20 does not turn over even when the device runs on its own, and flexibly adheres to the running surface 1b to prevent fluid from entering, and does not inhibit the self-running of the device due to the frictional resistance of the portion that contacts the running surface. However, the present inventor has already proposed a technology in which a suction cup can move along the part of the suction surface that is attached to the suction surface, such as in Utility Model Registration No. 1497722. ing. Note that the partition wall of the present invention is not limited to the structure shown in the embodiment as long as it has the above-mentioned function. If the partition wall is made of a material that performs surface treatment such as cleaning, polishing, or wiping on the running surface, such as plan, abrasive paper cloth, or fiber, the device can run on its own and simultaneously perform surface treatment on the running surface. This can also be done.
第８ａ図は第７図における軸棒の一部を中空軸とした場
合の実施例を図示するもので、走行面１ｂに垂直な中空
の軸棒３９の走行面側の軸端に走行面１ｂに平行な軸５
３９ａが溶着されており、該軸棒３９ａには車輪１７ａ
が自由に回転可能なよう挿入されている。また、軸棒３
９には回転板４０がその輪心部４０ａにて自由に回転か
つ走行面１ｂの方向にスライド可能なよう挿入されてい
る。回転板４０の外周部分には一方が開口した円筒４０
ｂが溶着されており、該円筒４０の開口部の外周には第
７図と同様の仕切壁２０がスチールバンド２１にて固着
されている。また、輪心部４０ａにはスプロケット４１
が溶着されている。軸棒３９の中央の外周部分には軸棒
３９を枠体１５に保持する為のフランジ継手３９ｂが溶
着され、走行面１ｂと反対側の軸端にはサクションホー
ス３２が挿入されて固着されている。以上の第８ａ図の
装置において、減圧源が運転を開始すると走行面１ｂと
仕切壁２０と円筒４０ｂと回転板４０により包囲された
空間が減圧され、外部流体の圧力が回転板４０を走行面
１ｂの方向へ押すことにより車輪１７ａと回転板４０及
び車輪１７ａと走行面１ｂの接触圧力が増大する。なお
図示してはいないが、軸棒３９を枠体１５に固着せず自
由に回転可能なように軸保持部１５ａにて保持し、ロー
タリーアクチュエータ等の駆動源にて軸棒３９を任意に
回転可能にすると車輪１７ａは操向車輪ともなるもので
ある。FIG. 8a shows an embodiment in which a part of the shaft rod in FIG. 7 is made into a hollow shaft. axis 5 parallel to
39a is welded to the shaft 39a, and the wheel 17a is attached to the shaft 39a.
is inserted so that it can rotate freely. Also, the shaft rod 3
A rotating plate 40 is inserted into the rotating plate 9 so that it can freely rotate at its ring center 40a and slide in the direction of the running surface 1b. A cylinder 40 with one end open is provided on the outer circumference of the rotary plate 40.
b is welded to the outer periphery of the opening of the cylinder 40, and a partition wall 20 similar to that shown in FIG. 7 is fixed with a steel band 21. Further, a sprocket 41 is provided at the wheel center portion 40a.
is welded. A flange joint 39b for holding the shaft rod 39 to the frame 15 is welded to the central outer peripheral portion of the shaft rod 39, and a suction hose 32 is inserted and fixed to the shaft end opposite to the running surface 1b. There is. In the apparatus shown in FIG. 8a, when the pressure reduction source starts operating, the space surrounded by the running surface 1b, the partition wall 20, the cylinder 40b, and the rotating plate 40 is depressurized, and the pressure of the external fluid moves the rotating plate 40 from the running surface. By pushing in the direction of 1b, the contact pressure between the wheel 17a and the rotating plate 40 and between the wheel 17a and the running surface 1b increases. Although not shown, the shaft holder 15a holds the shaft 39 so that it can freely rotate without being fixed to the frame 15, and the shaft 39 can be rotated arbitrarily using a drive source such as a rotary actuator. If enabled, the wheels 17a also serve as steering wheels.
第９図は仕切壁２０を回転させないようにした場合の実
施例を図示するもので、回転板３６の輪心部３６ａには
該輪心部の外径よりやや大きい穴径を有する軸穴３８ａ
を有する円板３８が挿入され、該円板の外周部分には一
方が開口した円筒３８ｂが溶着され、該円筒の開口縁に
は第７図チ
と同様の仕切壁２０がスチールバンド２１にて固着され
ている。また該円板３８には回り止め用のロッド３８ｃ
が溶着されており、該ロッド３８Ｃは枠体１５の穴に比
較的ルーズに挿入されている。また輪心部３６ａにはス
プロケットが固着されている。なお軸棒１６ａは枠体１
５に固着されているが、第８図のようにロータリーアク
チュエータにより軸棒１６ａを任意に回転させることの
できる構造にすることもできる。以上の第９図の装置に
おいて、サクションホース３２の固着されたエルボ形管
継手が溶着されだ円板３８と円筒３８ｂと仕切壁２０と
走行面１ｂにより包囲された流密な空間内に存在する流
体が減圧源の運転により該空間外に排出されると該空間
内は減圧された状態となシ、円板３８及び回転板３６は
外部流体の圧力により走行面１ｂの方向への力を受けて
車輪１７ａを走行面１ｂへ押しつけるものである。また
該回転板３６が回転しても円板３８、円筒３８ｂ及び仕
切壁２０は回転せず、走行面１ｂの表面処理を行う必要
の無い時には第９図の装置が採用されてもよい。FIG. 9 shows an embodiment in which the partition wall 20 is not rotated, and the ring center portion 36a of the rotary plate 36 has a shaft hole 38a having a hole diameter slightly larger than the outer diameter of the ring center portion.
A cylinder 38b having an open end is welded to the outer periphery of the disk, and a partition wall 20 similar to that shown in FIG. It is fixed. Further, the disc 38 has a rotation prevention rod 38c.
are welded to each other, and the rod 38C is inserted relatively loosely into the hole in the frame 15. Further, a sprocket is fixed to the wheel center portion 36a. Note that the shaft rod 16a is the frame body 1
Although the shaft rod 16a is fixed to the shaft 5, it is also possible to have a structure in which the shaft rod 16a can be arbitrarily rotated by a rotary actuator as shown in FIG. In the device shown in FIG. 9, the elbow-shaped pipe joint to which the suction hose 32 is fixed is welded and exists in a fluid-tight space surrounded by the circular plate 38, the cylinder 38b, the partition wall 20, and the running surface 1b. When the fluid is discharged outside the space by the operation of the reduced pressure source, the inside of the space is in a reduced pressure state, and the disk 38 and the rotary plate 36 receive a force in the direction of the running surface 1b due to the pressure of the external fluid. This is to press the wheel 17a against the running surface 1b. Further, even if the rotary plate 36 rotates, the disk 38, cylinder 38b, and partition wall 20 do not rotate, and when there is no need to perform surface treatment on the running surface 1b, the apparatus shown in FIG. 9 may be employed.
第１０図乃至第１１図は第３図におけるロータリーアク
チュエータ８を電磁ブレーキユニットに変更し、出力軸
中蓋
を電磁ブレーキが装置された制動軸に変更した時の走行
面方向から見だ軸棒３と車輪４と回転板５の動きを図示
するものである。第１０図は軸棒３が制動されている時
のもので、回転板５−が矢印入方向に回転すると車輪４
は軸棒３の方向から見て時計方向に回転し軸棒３は矢印
Ｂ方向に移動する。第１１図は軸棒３が制動されていな
い時のもので、軸棒３は矢印Ｂ方向に回転する。以上の
ように軸棒３を非制動状態にして回転板５を回転させる
と車輪４の車軸の向きを任意の向きに変更できるのでロ
ータリーアクチュエータによらなくとも自走車両の走行
方向を変更することができるものである。Figures 10 and 11 show the shaft rod 3 as seen from the direction of the running surface when the rotary actuator 8 in Figure 3 is replaced with an electromagnetic brake unit and the output shaft inner cover is replaced with a braking shaft equipped with an electromagnetic brake. This figure illustrates the movement of the wheel 4 and rotating plate 5. Fig. 10 shows the state when the shaft 3 is braked, and when the rotating plate 5- rotates in the direction indicated by the arrow, the wheel 4
rotates clockwise when viewed from the direction of the shaft 3, and the shaft 3 moves in the direction of arrow B. FIG. 11 shows the state when the shaft 3 is not braked, and the shaft 3 rotates in the direction of arrow B. As described above, by rotating the rotating plate 5 with the axle 3 in the non-braking state, the direction of the axle of the wheel 4 can be changed to any direction, so the running direction of the self-propelled vehicle can be changed without using a rotary actuator. It is something that can be done.
第１２図は走行面と平行方向に往復動するピストン３ｂ
を有するシリンダチューブ３ａを走行面に垂直な軸棒３
の端部に固着し、ピストンロッド３ｃの端部に車輪４を
固着した状態を図示している。第１２図の装置において
回転板５０回転速度が一定であるとすると、シリンダロ
ッド３ｃが伸びた時と縮んだ時とで車輪４０回転速度が
異なり、よって自走車両の走行速度を任意に増減するこ
とが可能となるものである。また第１図において第１２
図の装置を使用するとすると、上側の２個の車輪の回転
速度と下側の２個の車輪の回転速度を違えることにより
車輪の車軸の向きを変えることなく自走車両の走行方向
を変更することができるものである。なおアクチュエー
タはシリンダに限定されない。Figure 12 shows a piston 3b that reciprocates in a direction parallel to the running surface.
The cylinder tube 3a having the axis rod 3 perpendicular to the running surface
The figure shows a state in which the wheel 4 is fixed to the end of the piston rod 3c. In the device shown in FIG. 12, assuming that the rotational speed of the rotary plate 50 is constant, the rotational speed of the wheel 40 will be different when the cylinder rod 3c is extended and when it is retracted, so that the traveling speed of the self-propelled vehicle can be increased or decreased arbitrarily. This makes it possible. Also, in Figure 1, the 12th
If the device shown in the figure is used, the running direction of the self-propelled vehicle can be changed without changing the direction of the wheel axle by changing the rotational speed of the two upper wheels and the rotational speed of the lower two wheels. It is something that can be done. Note that the actuator is not limited to a cylinder.
本発明の自走車両は以上説明したように、走行面に垂直
な原動軸から走行面に平行な車軸を有する車輪に回転力
を伝達する手段として歯車ユニットを用いていないので
構造が簡単かつ形状がコンパクトしかも重量も軽いとい
った利点を有する。また駆動車輪の車軸の向きを変える
ことも可能であるので駆動車輪は操向車輪の機能も兼備
しており全輪駆動方式の自走車両として最適である。ま
だ車輪に回転力を伝達する為に設けた回転板に走行面の
表面処理を行う材料を装着することにより該車輪の駆動
源と同一の駆動源により走行面の表面処理も行えるとい
っだ一石二鳥の効果を有している。まだ同じく車輪に回
転力を伝達する為に設けた回転板に走行面に柔軟に密着
する自由端を有する仕切壁を装着し、該回転板と該仕切
壁によシ吸盤を形成せしめると壁面や天井面での吸着自
走が可能となり、従来の自走車両には無い機能を得るこ
とができる。寸だ上述の機能を組み合わせると、壁面や
天井面にて吸着自走しながら同時に走行面の表面処理を
行うことも可能となり、従来の足場と手工具を利用した
人手作業にかわり安全でかつ省力化された表面処理作業
を実現できるものである。As explained above, the self-propelled vehicle of the present invention has a simple structure and shape because it does not use a gear unit as a means for transmitting rotational force from a driving shaft perpendicular to the running surface to a wheel having an axle parallel to the running surface. It has the advantage of being compact and light in weight. Furthermore, since the direction of the axle of the drive wheel can be changed, the drive wheel also has the function of a steering wheel, making it ideal for an all-wheel drive self-propelled vehicle. By attaching a material for surface treatment of the running surface to the rotary plate provided to transmit rotational force to the wheels, it is possible to perform surface treatment of the running surface using the same drive source as that of the wheel. It has the effect of Similarly, if a partition wall having a free end that flexibly contacts the running surface is attached to a rotating plate provided to transmit rotational force to the wheels, and a suction cup is formed between the rotating plate and the partition wall, the wall surface and It becomes possible to self-propel by suction on the ceiling surface, providing functions not found in conventional self-propelled vehicles. By combining the above-mentioned functions, it becomes possible to self-propel on walls and ceilings and simultaneously perform surface treatment on the traveling surface, which is safer and labor-saving instead of the traditional manual work using scaffolding and hand tools. This makes it possible to achieve standardized surface treatment work.
第１図は本発明の一実施例の上面図、第２図は第１図に
おける上側面図、第３図は第１図におけるＩ−１の断面
図、第３ａ図は第３図における実施例を一部変更した部
分断面図、第４図は第３図における実施例を一部変更し
た部分断面図、第４ａ図は第１図乃至第３図における実
施例を一部変更した下面図の一部、第４ｂ図は第４ａ図
における１′−Ｉ′の断面図、第５図は本発明の一実施
例の正面図、第６図はその左側面図、第７図は第５図に
おける■−■の断面図、第８図は第５図における■−■
の部分断面図、第８ａ図は第７図における実施例を一部
変更した断面図、第９図は第７図における実施例を一部
変更した断面図、第１０図乃至第１１図は第１図乃至第
３図における実施例を一部変更した下面図の一部による
動態説明図、第１２図は第３図における実施例を一部変
更した部分断面図でおる。
第１図
＃Ｊ３ａ図
′８４α図
第 Ｇ 図
１ｂ−１
ｗ−Ｊｒｒ 図
躬８α図
＃！１ｔｏ図
甥１Ｚ図FIG. 1 is a top view of one embodiment of the present invention, FIG. 2 is a top side view in FIG. 1, FIG. 3 is a cross-sectional view of I-1 in FIG. FIG. 4 is a partial sectional view of the embodiment shown in FIG. 3 with some changes; FIG. 4a is a bottom view of the embodiment shown in FIGS. 1 to 3 with some changes. FIG. 4b is a sectional view taken along line 1'-I' in FIG. 4a, FIG. 5 is a front view of an embodiment of the present invention, FIG. 6 is a left side view thereof, and FIG. A cross-sectional view of ■-■ in the figure, Figure 8 is a cross-sectional view of ■-■ in Figure 5.
FIG. 8a is a partially modified sectional view of the embodiment shown in FIG. 7, FIG. 9 is a partially modified sectional view of the embodiment shown in FIG. 7, and FIGS. FIG. 12 is a partial cross-sectional view of the embodiment shown in FIG. 3, and FIG. 12 is a partially modified bottom view of the embodiment shown in FIGS. 1 to 3. Figure 1 #J3a Figure '84α Figure G Figure 1b-1 w-Jrr Figure 8α Figure #! 1to figure nephew 1Z figure
Claims (1)
面の軸から外れた部分と、走行面と該回転板の間に位置
しかつ走行面と平行な車軸を有する車輪の外周部分とが
接触することにより該回転板から該車輪に回転力が伝達
される機構を有することを特徴とする、自走車両。 （２）回転板が回転しかつ走行面方向にスライドできる
ように、回転軸受兼スライド軸受を介して軸棒に保持さ
れたことを特徴とする特許請求の範囲第１項に記載の自
走車両。 （３）回転板を保持する軸棒に車輪を保持する軸棒が固
着されたことを特徴とする特許請求の範囲第２項に記載
の自走車両。 （４） 軸棒の走行面に垂直な部分が自走車両のフレー
ムに保持されていることを特徴とする特許請求の範囲第
３項に記載の自走車両。 （５）軸棒の走行面に垂直な部分が回転軸受を介して自
走車両のフレームに保持され、該軸棒を任意に回転させ
る為のアクチュエータが該フレームに装着されているこ
とを特徴とする特許請求の範囲第４項に記載の自走車両
。 （６）軸棒の走行面に垂直な部分が走行面方向にスライ
ドできるようにスライド軸受を介して自走車両のフレー
ムに保持されていることを特徴とする特許請求の範囲第
４項乃至第５項に記載の自走車両。 （７）回転板と自走車両のフレームとを走行面方向の互
いに引き離す方向に力を作用させるコイルバネ等のアク
チュエータが装着されていることを特徴とする特許請求
の範囲第４項乃至第６項に記載の自走車両。 （８）回転板の走行面側の外周部分にブラシ、研磨紙布
、砥粒を埋め込んだゴム、繊維等の走行面に対し清掃、
研磨、清拭等の表面処理を行う材料が装着されたことを
特徴とする特許請求の範囲第３項乃至第７項に記載○自
走車両。 （９）回転板の走行面側の外周部分に柔軟な材料からな
る環状の仕切壁が装着され、該仕切壁の自由端が走行面
に密着することにより該仕切壁と該回転板と走行面によ
り囲まれた部分に実質上流密な空間が形成されることを
特徴とする、特許請求の範囲第３項乃至第８項記載の自
走車両。 （１０）仕切壁がブラシ、研磨紙布、砥粒を埋め込んだ
ゴム、繊維等の走行面に対し清掃、研磨、清拭等の表面
処理を行う材料からなる仕切壁であることを特徴とする
特許請求の範囲第９項に記載の自走車両。 （１１）多数の孔を有する回転板の走行面と反対側の面
の上部に、該回転板方向が開口した筒体が軸棒にスライ
ド軸受を介して装置され、該筒体の開口縁には該回転板
と密着するシールが装着されており、また該筒体の内部
空間はサクションホース等の管を介して真空ポンプ、水
ポンプ等の減圧源に連通されていることを特徴とする特
許請求の範囲第９項乃至第１０項記載の自走車両。 （１２）軸棒の走行面に垂直な部分に中空な部分が形成
され、該中空部分が回転板と仕切壁と走行面に四重れた
空間に開口し、かつ該中空部分はサクションホース等の
管を介して真空ポンプ、水ポンプ等の減圧源に連通され
ていることを特徴とする特許請求の範囲第９項乃至第１
０項記載の自走車両。 （１３）回転板の外周部分を包囲する柔軟材料からなる
環状の仕切壁と該仕切壁が外周部分に固着された円板か
らなる仕切壁ユニットの輪心部が該回転板の輪心部に回
転軸受を介して装着され、該回転板と該仕切壁ユニット
と走行面により囲まれた部分に実質上流密な空間が形成
されていることを特徴とする特許請求の範囲第３項乃至
第８項に記載の自走車両。 （１４）回転板と仕切壁ユニットと走行面により囲まれ
た空間がサクションホース等の管を介して真空ポンプ、
水ポンプ等の減圧源に連通されていることを特徴とする
特許請求の範囲第１３項に記載の自走車両。 （１５）回転板の走行面側の面の少くとも車輪が接触す
る部分に、多数の歯もしくは構が形成されたことを特徴
とする特許請求の範囲第１項乃至第１４項に記載の自走
車両。 （１６）回転板の走行面側の面に、ブラシ、ゴム、繊維
等の車輪の外周部分に接触して該外周部分に付着した汚
れを除去する為の材料が固着されたことを特徴とする特
許請求の範囲第１項乃至第１５項に記載の自走車両。 （１７）軸棒の走行面に垂直な部分が回転軸受を介して
自走車両のフレームに保持され、該軸棒の回転を任意に
制動する為のブレーキ装置が該フレームに装着されてい
ることを特徴とする特許請求の範囲第４項乃至第１６項
に記載の自走車両。 （国 回転板の走行面に垂直な軸から車輪までの走行面
と平行方向の距離をアクチュエータにより任意に調整で
きるようにしたことを特徴とする特許請求の範囲第１項
乃至[Claims] (]) An off-axis portion of the surface on the running surface side of a rotating plate having an axis perpendicular to the running surface, and an axle located between the running surface and the rotating plate and parallel to the running surface. 1. A self-propelled vehicle comprising a mechanism in which rotational force is transmitted from the rotary plate to the wheel by contacting the outer peripheral portion of the wheel. (2) The self-propelled vehicle according to claim 1, wherein the rotating plate is held on the shaft via a rotating bearing and a sliding bearing so that the rotating plate can rotate and slide in the direction of the running surface. . (3) The self-propelled vehicle according to claim 2, wherein an axle that holds the wheels is fixed to an axle that holds the rotating plate. (4) The self-propelled vehicle according to claim 3, wherein a portion of the shaft rod perpendicular to the running surface is held by a frame of the self-propelled vehicle. (5) A portion of the shaft perpendicular to the running surface is held in the frame of the self-propelled vehicle via a rotation bearing, and an actuator for arbitrarily rotating the shaft is attached to the frame. A self-propelled vehicle according to claim 4. (6) Claims 4 to 4, characterized in that the portion of the shaft rod perpendicular to the running surface is held on the frame of the self-propelled vehicle via a slide bearing so that it can slide in the direction of the running surface. The self-propelled vehicle described in item 5. (7) Claims 4 to 6 include an actuator such as a coil spring that applies a force in a direction that separates the rotating plate and the frame of the self-propelled vehicle from each other in the direction of the running surface. Self-propelled vehicle described in. (8) Cleaning the running surface of the rotating plate using brushes, abrasive cloth, rubber embedded with abrasive grains, fibers, etc. on the outer periphery of the running surface of the rotating plate;
A self-propelled vehicle according to claims 3 to 7, characterized in that a material for surface treatment such as polishing or wiping is attached. (9) An annular partition wall made of a flexible material is attached to the outer periphery of the rotating plate on the running surface side, and the free end of the partition wall is brought into close contact with the running surface, so that the partition wall, the rotating plate, and the running surface are connected to each other. 9. The self-propelled vehicle according to claim 3, wherein a substantially dense space is formed in a portion surrounded by. (10) The partition wall is characterized by being made of a material that performs surface treatments such as cleaning, polishing, and wiping on running surfaces such as brushes, abrasive paper cloth, rubber embedded with abrasive grains, and fibers. A self-propelled vehicle according to claim 9. (11) A cylindrical body with an opening in the direction of the rotary plate is attached to the shaft via a slide bearing on the upper part of the surface opposite to the running surface of the rotary plate having a large number of holes, and the opening edge of the cylindrical body is equipped with a seal that comes into close contact with the rotary plate, and the internal space of the cylindrical body is communicated with a reduced pressure source such as a vacuum pump or water pump through a pipe such as a suction hose. A self-propelled vehicle according to claims 9 and 10. (12) A hollow part is formed in the part perpendicular to the running surface of the shaft rod, and the hollow part opens into a quadruple space between the rotary plate, the partition wall, and the running surface, and the hollow part is used for a suction hose, etc. Claims 9 to 1 are characterized in that the device is connected to a reduced pressure source such as a vacuum pump or a water pump through a pipe.
Self-propelled vehicle described in item 0. (13) A ring center portion of a partition wall unit consisting of an annular partition wall made of a flexible material surrounding the outer circumferential portion of the rotating plate and a disk to which the partition wall is fixed to the outer circumferential portion is attached to the ring center portion of the rotating plate. Claims 3 to 8 are characterized in that the rotating plate is mounted via a rotating bearing, and a substantially dense space is formed in a portion surrounded by the rotating plate, the partition wall unit, and the running surface. Self-propelled vehicles as described in section. (14) The space surrounded by the rotary plate, partition wall unit, and running surface is connected to a vacuum pump,
The self-propelled vehicle according to claim 13, wherein the self-propelled vehicle is connected to a reduced pressure source such as a water pump. (15) The motor according to any one of claims 1 to 14, characterized in that a large number of teeth or structures are formed on at least the portion of the running surface side of the rotating plate that contacts the wheels. Running vehicle. (16) A material such as brushes, rubber, fibers, etc. for removing dirt that comes into contact with the outer periphery of the wheel and adheres to the outer periphery is fixed to the running surface side of the rotating plate. A self-propelled vehicle according to claims 1 to 15. (17) The part of the shaft perpendicular to the running surface is held in the frame of the self-propelled vehicle via a rotation bearing, and a brake device for arbitrarily braking the rotation of the shaft is attached to the frame. A self-propelled vehicle according to claims 4 to 16, characterized in that: (Claims 1 to 3) characterized in that the distance in the direction parallel to the running surface from the axis perpendicular to the running surface of the rotating plate to the wheel can be arbitrarily adjusted by an actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58251993A JPS60135380A (en) | 1983-12-23 | 1983-12-23 | Self-propelled vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58251993A JPS60135380A (en) | 1983-12-23 | 1983-12-23 | Self-propelled vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60135380A true JPS60135380A (en) | 1985-07-18 |
Family
ID=17231047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58251993A Pending JPS60135380A (en) | 1983-12-23 | 1983-12-23 | Self-propelled vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60135380A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6341285A (en) * | 1986-08-05 | 1988-02-22 | Fukashi Uragami | Device capable of being adsorbed to wall surface |
| JPH01111578A (en) * | 1987-10-26 | 1989-04-28 | Ishikawajima Kensa Keisoku Kk | Vacuum suction type travelling device |
-
1983
- 1983-12-23 JP JP58251993A patent/JPS60135380A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6341285A (en) * | 1986-08-05 | 1988-02-22 | Fukashi Uragami | Device capable of being adsorbed to wall surface |
| JPH01111578A (en) * | 1987-10-26 | 1989-04-28 | Ishikawajima Kensa Keisoku Kk | Vacuum suction type travelling device |
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