JP2008044473A - Caster - Google Patents

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JP2008044473A
JP2008044473A JP2006220344A JP2006220344A JP2008044473A JP 2008044473 A JP2008044473 A JP 2008044473A JP 2006220344 A JP2006220344 A JP 2006220344A JP 2006220344 A JP2006220344 A JP 2006220344A JP 2008044473 A JP2008044473 A JP 2008044473A
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roller
caster
support
rollers
roller support
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JP4950593B2 (en
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Teruo Kumashiro
照夫 熊代
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Daiwa Adtech Co Ltd
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Daiwa Adtech Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a caster capable of suppressing impact received from a recession/projection part to a small degree even if it travels on a road surface, a floor surface or the like when the recession/projection part exists because the road surface, the floor surface or the like is formed to a slatted drain-board or a lattice shape and bricks, tiles or the like are laid with a predetermined clearance. <P>SOLUTION: The caster A includes a roller support body 1 having an endlessly continued outer peripheral surface 11 comprising a flat-like lower surface part 111 having a caster support shaft attachment part 12 and linearly extending in a caster advancement/retreating direction viewed from a side and a surface part 112 continued to it and formed to a forwardly/rearwardly projected curved shape; a roller 2 arranged on a periphery of a roller support body; and a connection member 3 for connecting the respective adjacent rollers. The roller connection member 3 has a portion 30 projected to an outer side than the roller 2 viewed from the caster support shaft attachment part 12, and the projection portion 30 has a flat-like outer surface 30a contacted with a caster traveling road surface F. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、物品を人力やバッテリー等で移動させるために該物品に取り付けて使用するキャスタ(足車)に関する。   The present invention relates to a caster (caster) that is used by being attached to an article in order to move the article with human power or a battery.

買物用、旅行用等のカバン、バッグ、ケース等の持ち運び収納具、各種機器その他の荷物を乗せて運ぶ手押し車、乳母車、車椅子等の福祉物品、冷蔵庫等の電化製品、家庭用や事務用の家具、オルガン、ピアノ等の楽器、事務機その他の機械などには、それらを人力で移動させやすいようにキャスタ(車椅子等では操舵用として)を取り付けることが多々あり、また、足こぎ等或いはバッテリーで動く子供用三輪車、子供用自動車玩具等の子供用乗物はキャスタを車輪として備えている。   Carrying bags, bags, cases, etc. for shopping, travel, etc., wheelbarrows carrying various equipment and other luggage, welfare items such as baby carriages, wheelchairs, electrical appliances such as refrigerators, home use and office use Furniture, organs, pianos and other musical instruments, office machines and other machines are often equipped with casters (for steering in wheelchairs, etc.) so that they can be easily moved by human power. Children's vehicles such as children's tricycles, children's toys, etc., are equipped with casters as wheels.

かかるキャスタは自動車、自転車の車輪などと比べると小型のものであり、代表例としては、図5や図6に示すようなものが知られている。
図5のキャスタは、ハブ部H1、リム部R1及び該ハブ部とリム部に両端を接続したスポークSP1とからなるキャスタ基体のリム部R1に弾性材料からなる外輪部T1を装着したものである。
Such casters are smaller than automobiles, bicycle wheels, and the like, and typical examples are shown in FIGS. 5 and 6.
The caster shown in FIG. 5 is obtained by mounting an outer ring portion T1 made of an elastic material on a rim portion R1 of a caster base including a hub portion H1, a rim portion R1, and a spoke SP1 having both ends connected to the hub portion and the rim portion. .

また、図6に示すキャスタは、ハブ部H2、リム部R2及びそれらと一体的に形成されたスポーク部SP2とからなるキャスタ基体のリム部R2に弾性材料からなる外輪部T2を装着したものである。   The caster shown in FIG. 6 is obtained by mounting an outer ring portion T2 made of an elastic material on a rim portion R2 of a caster base including a hub portion H2, a rim portion R2, and a spoke portion SP2 formed integrally therewith. is there.

また、以上のほか、衝撃吸収性(クッション性)を有する車輪として、ハブ部とリム部との間のスポークをバネ材で形成して、全体にクッション性を持たせた車輪(特開平8−127201号公報)、ハブ部とリム部との間のスポーク部を弾性変形可能の屈曲構造のものとして、全体にクッション性を持たせた車輪(特開2002−29201号公報)等が知られている。   In addition to the above, as a wheel having shock absorption (cushioning property), a spoke is formed between the hub portion and the rim portion with a spring material so that the entire cushioning property is provided (Japanese Patent Laid-Open No. Hei 8- No. 127201), a wheel having a cushioning property as a whole (Japanese Patent Laid-Open No. 2002-29201), etc., having a spoke structure between the hub portion and the rim portion that is elastically deformable, is known. Yes.

特開平8−127201号公報JP-A-8-127201 特開2002−29201号公報Japanese Patent Laid-Open No. 2002-29201

ところが、図5や図6に示すキャスタはスポークSP1やスポーク部SP2がハブ部からリム部へ向かって、直線的に放射状に延びているので、全体としてクッション性に乏しく、キャスタが路面、床面等上を転動するとき、該路面や床面等の凹凸による衝撃を受けやすく、該衝撃が直接的に該キャスタにより運ばれているものに伝わりやすい。   However, since the casters shown in FIGS. 5 and 6 have the spokes SP1 and the spoke portions SP2 extending radially from the hub portion to the rim portion, the casters are poor in cushioning as a whole, and the casters are on the road surface, floor surface. When rolling on the same surface, it is easy to receive an impact due to unevenness on the road surface, floor surface, etc., and the impact is easily transmitted to what is directly carried by the caster.

この点、特開平8−127201号公報等に開示された車輪はクッション性を有するから、該車輪が路面、床面等上を転動するとき、該路面や床面等の凹凸による衝撃がそれだけ吸収されされやすく、該衝撃が該車輪により運ばれているものに伝わりにくい。   In this regard, since the wheels disclosed in Japanese Patent Laid-Open No. 8-127201 have cushioning properties, when the wheels roll on the road surface, floor surface, etc., the impact caused by the unevenness on the road surface, floor surface, etc. is only that. It is easily absorbed and the impact is less likely to be transmitted to what is being carried by the wheel.

しかしながら、かかる従来のキャスタや車輪は、たとえクッション性を有するキャスタ等であっても、それらは円形のものであるから、路面、床面等との接触面積は小さく、路面、床面等に凹凸がある場合、その凹凸が小さい場合でも凹部を跨いだり、凸部を乗り越えたりするときに衝撃を受けることは免れない。
例えば、全体としては平坦面状であっても、路面、床面等が簀の子状に形成されていたり、煉瓦やタイルを所定間隔を開けて敷設したもの等であるために凹凸部がある場合は、その凹凸部により衝撃を受けることは免れない。
However, even if such conventional casters and wheels are casters having cushioning properties, since they are circular, the contact area with the road surface, floor surface, etc. is small, and the road surface, floor surface, etc. are uneven. In the case where there is an unevenness, even if the unevenness is small, it is inevitable to receive an impact when straddling the concave portion or overcoming the convex portion.
For example, even if it is flat as a whole, the road surface, floor surface, etc. are formed in the shape of a fence, or there are uneven parts because bricks or tiles are laid at a predetermined interval etc. , It is inevitable to receive an impact by the uneven part.

今日においては、例えば塵埃による汚染を嫌う各種電子機器、精密機器、それらの部品が製作されているが、そのような機器や部品の製作はしばしば所謂クリーンルームで行われており、クリーンルームの床は、室内からの排気のために簀の子状或いは格子条等の部材から形成されていることがあり、そのような簀の子状等の部材からなる床面上を、振動を嫌う機器や部品がキャスタを有する手押し車等により運搬されると、キャスタが円形であるために、凹凸部のある簀の子状等の床面から衝撃を受けつつ運ばれることになり、これが運搬中の機器等に、好ましくない振動を与えてしまうことがある。   Today, for example, various electronic devices, precision devices, and parts thereof that do not want to be contaminated by dust are manufactured, but such devices and parts are often manufactured in a so-called clean room, and the floor of a clean room is A handrail having a caster, which may be formed from a member such as a spider child or a lattice strip for exhausting from the room, and a device or part that dislikes vibration on a floor surface made of such a member such as a spider child When transported by a car, etc., the casters are circular, so they are transported while receiving an impact from the floor surface of a kite that has uneven parts, which gives undesired vibration to the equipment being transported. May end up.

そこで本発明は、路面、床面等が、例えば簀の子状、格子条等に形成されていたり、煉瓦、タイル等を所定間隔を開けて敷設したものである等のために凹凸部があるときに、その路面、床面等上に走行させても、該凹凸部から受ける衝撃を小さく抑制できるキャスタを提供することを課題とする。   Therefore, in the present invention, when the road surface, the floor surface, etc. are formed in, for example, the shape of a fence, a lattice strip, etc., or because there are uneven portions because bricks, tiles, etc. are laid at a predetermined interval, etc. It is an object of the present invention to provide a caster that can suppress the impact received from the uneven portion even when traveling on the road surface, floor surface, or the like.

本発明は、前記課題を解決するため、
キャスタ支持軸装着部を有するローラ支持体と、
該ローラ支持体の周囲に順次所定のローラ配置間隔をおいて配置された複数のローラと、
該複数のローラにおける各隣り合うローラを、該隣り合うローラのそれぞれが前記ローラ配置間隔を維持しつつ前記ローラ支持体上を転動できるように連結する連結部材とを含んでおり、
前記ローラ支持体は、側面から見るとキャスタ前進後退方向において真っ直ぐ状に延びる平坦状下面部と、該平坦状下面部に両端部が連続して、キャスタ前進後退方向において前後及び上向きに凸湾曲状を呈する面部とからなる無端に連続する外周面を有し、
前記複数のローラのそれぞれは、前記ローラ支持体の外周面に転動可能に接触しており、
前記各隣り合うローラを連結する連結部材のそれぞれは、それが連結している隣り合うローラより、前記ローラ支持体のキャスタ支持軸装着部から見て外側まで突出した部分を有しており、該突出部分はキャスタ走行路面に接触する平坦状外面を有しており、
該連結部材は、前記ローラ支持体外周面の平坦状下面部に対応する位置に複数個あるキャスタを提供する。
In order to solve the above problems, the present invention provides:
A roller support having a caster support shaft mounting portion;
A plurality of rollers sequentially arranged around the roller support at predetermined roller arrangement intervals;
A connecting member that connects each adjacent roller of the plurality of rollers so that each of the adjacent rollers can roll on the roller support while maintaining the roller arrangement interval;
When viewed from the side, the roller support has a flat bottom surface that extends straight in the forward and backward direction of the caster, and both ends are continuous with the flat lower surface, and is convexly curved forward and backward and upward in the forward and backward direction of the caster. And an endless continuous outer peripheral surface composed of a surface portion exhibiting
Each of the plurality of rollers is in rolling contact with the outer peripheral surface of the roller support,
Each of the connecting members for connecting the adjacent rollers has a portion protruding from the adjacent roller to which it is connected to the outside as viewed from the caster support shaft mounting portion of the roller support, The protruding portion has a flat outer surface that contacts the caster traveling road surface,
The connecting member provides a plurality of casters at positions corresponding to the flat lower surface portion of the outer peripheral surface of the roller support.

本発明に係るキャスタは、ローラ支持体のキャスタ支持軸装着部にキャスタ支持軸を装着し、該キャスタ支持軸を介して例えば手押し車本体等の、キャスタ取付け対象体に取り付けて用いることができる。さらに言えば、そのようにキャスタ取付け対象体に取り付けた状態で、ローラ支持体の外周面のうち側面から見るとキャスタ前進後退方向において真っ直ぐ状に延びる平坦状下面部に対応する位置にあるローラの連結部材の前記突出部分の平坦状外面を路面、床面等のキャスタ走行路面に載置してキャスタ取付け対象体を押す、引っ張る等して移動させると、ローラ連結部材の突出部分が、ローラ支持体外周面上に配列されたローラの該ローラ支持体外周面に沿う転動を伴ってローラ支持体周囲を回動することで走行することができる。   The caster according to the present invention can be used by attaching a caster support shaft to a caster support shaft mounting portion of a roller support and attaching the caster support shaft to a caster attachment target body such as a handcart main body through the caster support shaft. Further, in such a state that the roller is mounted on the caster mounting target body, the roller at a position corresponding to the flat bottom surface portion that extends straight in the forward / backward direction of the caster when viewed from the side of the outer peripheral surface of the roller support. When the flat outer surface of the protruding portion of the connecting member is placed on a caster traveling road surface such as a road surface or a floor surface and the caster mounting target body is pushed or pulled, the protruding portion of the roller connecting member supports the roller. It can drive | work by rotating around a roller support body with the rolling along this roller support body outer peripheral surface of the roller arranged on the body outer peripheral surface.

かかるキャスタの走行においては、ローラ支持体外周面のうちローラ支持体側面から見ると真っ直ぐ状に延びる平坦状下面部に対応する位置にある複数のローラ連結部材の突出部分の平坦状外面が連なって、従来の円形のキャスタや車輪と比べると、キャスタ移動方向において長く路面、床面等のキャスタ走行路面に接触しつつ走行する。   In the running of the caster, the flat outer surfaces of the protruding portions of the plurality of roller connecting members located at positions corresponding to the flat lower surface portion extending straight when viewed from the side surface of the roller support member are connected. Compared with conventional circular casters and wheels, the vehicle travels in the caster moving direction while being in contact with the caster traveling road surface such as the road surface and the floor surface.

そのため、例えば簀の子状、格子条等に形成されていたり、煉瓦、タイル等を所定間隔を開けて敷設したものである等のために凹凸部がある路面、床面等上に走行させても、キャスタは該凹部の前後の凸部に接触したり、隣り合う凸部に接触するなどして、該凹凸部から受ける衝撃が小さく抑制される状態で、それだけ円滑に路面、床面等上を走行できる。   Therefore, for example, it is formed in the shape of a fence, lattices, etc., or even if it is run on a road surface, floor surface, etc. with uneven parts because it is laid with bricks, tiles etc. at a predetermined interval, The caster runs smoothly on the road surface, floor surface, etc. in a state where the impact received from the uneven portion is suppressed to a small extent by contacting the convex portions before and after the concave portion or contacting adjacent convex portions. it can.

前記ローラ支持体の外周面の平坦状下面部は、ローラ支持体側面からみると真っ直ぐ延びる平坦下面部でもよいが、下向きに凸湾曲した平坦状下部分となっていてもよい。ローラ支持体の大きさ等にもよるが、例えば、曲率半径10cm程度以上で僅かに下向きに凸湾曲した平坦状下面部となっていてもよい。前記の「ローラ支持体の外周面における平坦状下面部」にはこのような面部も含まれる。   The flat lower surface portion of the outer peripheral surface of the roller support may be a flat lower surface that extends straight when viewed from the side of the roller support, or may be a flat lower portion that curves downward. Depending on the size of the roller support, etc., for example, it may be a flat lower surface portion having a curvature radius of about 10 cm or more and slightly convexly curved downward. The “flat bottom surface portion on the outer peripheral surface of the roller support” includes such a surface portion.

ローラ支持体の外周面の平坦状下面部が、このように下向きに凸湾曲した平坦状面部となっている場合でも、ローラ支持軸装着部の中心から該平坦状下面部に対応する前記ローラ連結部材の突出部分の平坦状外面までの最短距離を半径とする円形外輪郭を有するキャスタや車輪と比べると、路面、床面等における凹凸部から受ける衝撃は小さく抑制される。また、ローラ支持体外周面の平坦状下面部が、このように下向きに凸湾曲した平坦状面部となっていると、キャスタの移動方向の変更がそれだけ容易となる。換言すれば、ローラ支持体外周面の平坦状下面部を下向きに凸湾曲した平坦状面部とする場合、その曲率半径は、キャスタの移動方向の変更を行える(無理なく行える)程度のものとすればよい、とも言える。   Even when the flat lower surface portion of the outer peripheral surface of the roller support is a flat surface portion that is convexly curved downward, the roller connection corresponding to the flat lower surface portion from the center of the roller support shaft mounting portion. Compared with casters and wheels having a circular outer contour whose radius is the shortest distance to the flat outer surface of the protruding portion of the member, the impact received from the uneven portions on the road surface, floor surface, etc. is suppressed to a small level. Further, if the flat lower surface portion of the outer peripheral surface of the roller support is a flat surface portion that is convexly curved downward as described above, it is easy to change the moving direction of the casters. In other words, when the flat lower surface portion of the outer peripheral surface of the roller support is formed as a flat surface portion curved downward, the radius of curvature should be such that the moving direction of the caster can be changed (doesn't change). I can say that.

前記ローラの連結部材の突出部分のキャスタ走行路面に接触する平坦状外面も、平坦外面でなくてもよく、例えば僅かに外側へ凸湾曲した平坦状外面であってもよい。「連結部材の突出部分のキャスタ走行路面に接触する平坦状外面」には、平坦外面のほか、このように僅かに湾曲した、しかし平坦状である外面である場合も含まれる。   The flat outer surface that contacts the caster traveling road surface of the protruding portion of the connecting member of the roller may not be a flat outer surface, and may be, for example, a flat outer surface slightly curved outward. The “flat outer surface that contacts the caster traveling road surface of the protruding portion of the connecting member” includes not only the flat outer surface but also the outer surface that is slightly curved but flat as described above.

前記ローラとしては、様々のタイプのものを採用できるが、例えば、キャスタ幅方向に間隔をおいて配置された一対のコロと、該一対のコロを連結する、該コロより外径の小さいコロ軸とを含んでおり、該一対のコロが前記ローラ支持体の外周面に転動可能に接触するものを挙げることができる。   Various types of rollers can be adopted as the roller. For example, a pair of rollers arranged at intervals in the caster width direction, and a roller shaft having a smaller outer diameter than the rollers, which connects the pair of rollers. And the pair of rollers in contact with the outer peripheral surface of the roller support so as to allow rolling.

このようなローラを採用する場合、ローラ支持体の外周面は、該一対のコロと該コロ軸とで形成されるローラ凹所が、該コロの前記転動が許されるように外嵌する凸条部を有するものとすることができる。かかる突条部は、ローラ支持体外周面上におけるローラの位置ずれや、ローラ支持体外周面からのローラの外れ落ちを抑制して、ローラをそれだけ安定して転動させることができる。   When such a roller is used, the outer peripheral surface of the roller support is a convexity that a roller recess formed by the pair of rollers and the roller shaft is fitted so that the rolling of the rollers is allowed. It can have a strip. Such a protrusion can suppress the positional deviation of the roller on the outer peripheral surface of the roller support and the falling off of the roller from the outer peripheral surface of the roller support, thereby allowing the roller to roll stably.

複数ある前記連結部材のそれぞれは、様々の形態を採り得るが、例えば、前記のような一対のコロを含むローラ及びローラ支持体外周面の凸条部を採用する場合、一対のコロの内側に位置する一対のコロ軸支持部と、該一対のコロ軸支持部よりローラ支持体外周面の凸条部の延在方向に突出するとともに該凸条部の上方に位置するコロ軸支持突出部とを含むものを挙げることができる。   Each of the plurality of connecting members can take various forms. For example, when a roller including a pair of rollers as described above and a protruding portion on the outer peripheral surface of a roller support are employed, A pair of roller shaft support portions that are positioned, and a roller shaft support protrusion portion that protrudes from the pair of roller shaft support portions in the extending direction of the protrusion on the outer peripheral surface of the roller support and is positioned above the protrusion. Can be mentioned.

この場合、複数ある連結部材は、各隣り合う連結部材において一方の連結部材のコロ軸支持突出部が他方の連結部材の一対のコロ軸支持部の間に位置するように順次配列すればよく、前記ローラのコロ軸は、該一対の該コロ軸支持部とその間に配置された該コロ軸支持突出部に貫通し、コロ軸両端部にコロを保持することができる。   In this case, the plurality of connecting members may be sequentially arranged so that the roller shaft supporting protrusions of one connecting member are located between the pair of roller shaft supporting portions of the other connecting member in each adjacent connecting member, The roller shaft of the roller can pass through the pair of roller shaft support portions and the roller shaft support protrusions disposed between the pair of roller shaft support portions, and the rollers can be held at both ends of the roller shaft.

いずれにしても、前記連結部材の、前記ローラ支持体のキャスタ支持軸装着部から見て前記ローラの外側まで突出した突出部分のキャスタ走行路面に接触する平坦状外面のうち少なくとも一部は緩衝材で形成してもよい。かかる緩衝材としてゴム等の弾性材料を挙げることができる。   In any case, at least a part of the flat outer surface of the connecting member that contacts the caster traveling road surface of the protruding portion that protrudes to the outside of the roller when viewed from the caster support shaft mounting portion of the roller support is a cushioning material. May be formed. Examples of the buffer material include elastic materials such as rubber.

本発明に係るキャスタのローラ支持体は、前記キャスタ支持軸装着部と、該ローラ支持体外周面のうち少なくとも前記平坦状下面部との間に緩衝部を備えていてもよい。   The roller support of the caster according to the present invention may include a buffer portion between the caster support shaft mounting portion and at least the flat lower surface portion of the roller support outer peripheral surface.

このようなローラ支持体の緩衝部としては、例えば、ローラ支持体の、キャスタ支持軸装着部とローラ支持体外周面の前記平坦状下面部との間の部分をクッション性を有する弾性材料で形成して、それを緩衝部としてもよい。また、ローラ支持体の外周面のうち、少なくとも前記平坦状下面部とキャスタ支持軸装着部との間にローラ支持体幅方向に貫通する空間を形成することで形成された、可撓性を示す、ローラ支持体外周に沿う薄肉部を含むものも例示できる。   As such a buffer support portion of the roller support, for example, a portion of the roller support between the caster support shaft mounting portion and the flat lower surface portion of the outer peripheral surface of the roller support is formed of an elastic material having a cushioning property. And it is good also as a buffer part. Moreover, the flexibility formed by forming the space which penetrates a roller support body width direction at least between the said flat lower surface part and a caster support shaft mounting part among the outer peripheral surfaces of a roller support body is shown. An example including a thin portion along the outer periphery of the roller support can also be exemplified.

ローラ支持体の緩衝部として、かかる薄肉部を含むものを採用する場合、該緩衝部は、さらに、ローラ支持体幅方向に貫通する空間において、キャスタ支持軸装着部と該薄肉部のうち少なくとも一部との間に装填された緩衝部材を含んでいてもよい。
このような緩衝部材としては、バネのほか、弾性材料、例えば比較的柔らかい(反発性の低い)弾性材料からなるもの等であってもよい。既述のように、ローラの連結部材の前記突出部分のキャスタ走行路面に接触する平坦状外面のうち少なくとも一部を緩衝材で形成する場合、その緩衝材より柔らかい(反発性の低い)弾性材料からなるもの等であってもよい。
In the case of adopting such a thin part as the buffer part of the roller support, the buffer part further includes at least one of the caster support shaft mounting part and the thin part in a space penetrating in the width direction of the roller support. The shock absorbing member loaded between the parts may be included.
In addition to the spring, such a buffer member may be an elastic material, for example, a material made of a relatively soft (low resilience) elastic material. As described above, when at least a part of the flat outer surface that contacts the caster traveling road surface of the protruding portion of the connecting member of the roller is formed of a cushioning material, the elastic material is softer (less repulsive) than the cushioning material. The thing which consists of etc. may be sufficient.

以上説明したように本発明によると、路面、床面等が、例えば簀の子状、格子条等に形成されていたり、煉瓦、タイル等を所定間隔を開けて敷設したものである等のために凹凸部があるときに、その路面、床面等上に走行させても、該凹凸部から受ける衝撃を小さく抑制できるキャスタを提供することができる。   As described above, according to the present invention, the road surface, floor surface, etc. are uneven because of, for example, the shape of a fence, a lattice strip, etc., or bricks, tiles, etc. laid at a predetermined interval. When there is a portion, a caster that can suppress the impact received from the uneven portion even when traveling on the road surface, floor surface or the like can be provided.

以下に本発明の実施形態について説明する。以下に説明するキャスタAは、物品を人力やバッテリー等で移動させるために該物品に取り付けて使用することができるものである。かかる物品として、例えば、買物用、旅行用等のカバン、バッグ、ケース等の持ち運び収納具、各種機器その他の荷物を乗せて運ぶ手押し車、乳母車、車椅子等の福祉物品、冷蔵庫等の電化製品、家庭用や事務用の家具、オルガン、ピアノ等の楽器、事務機その他の機械などを挙げることができ、それらに取り付けて、それらを人力で移動させることに利用できる。   Embodiments of the present invention will be described below. The caster A described below can be used by being attached to the article in order to move the article with human power or a battery. Such articles include, for example, bags for shopping, travel, etc., portable storage equipment such as bags, cases, wheelbarrows carrying various equipment and other luggage, welfare items such as baby carriages, wheelchairs, etc., electrical appliances such as refrigerators, Home and office furniture, organs, musical instruments such as pianos, office machines and other machines can be mentioned, and they can be attached to them and used to move them manually.

また、足こぎ等或いはバッテリーで動く子供用三輪車、子供用自動車玩具等の子供用乗物における車輪として用いることもできる。   It can also be used as a wheel in children's vehicles such as children's tricycles, children's automobile toys, etc.

本発明に係るキャスタは自動車や自転車の車輪と比べると、構造や強度の点からして、簡易な小型のキャスタとして用いるのに適しており、それには限定されないが、例えば、最大外径が70mm程度〜200mm程度の小型キャスタとして用いるのに適している。   The caster according to the present invention is suitable for use as a simple small caster in terms of structure and strength as compared with wheels of automobiles and bicycles, and is not limited thereto. For example, the maximum outer diameter is 70 mm. It is suitable for use as a small caster having a size of about 200 mm.

図1は本発明に係るキャスタの1例Aの側面図である。
図1に示すキャスタAは、ローラ支持体1、ローラ支持体1の周囲に順次間隔をおいて配置された複数のローラ2及び各隣り合うローラ同士を連結する連結部材3を含んでいる。
FIG. 1 is a side view of an example A of casters according to the present invention.
A caster A shown in FIG. 1 includes a roller support 1, a plurality of rollers 2 that are sequentially arranged around the roller support 1, and a connecting member 3 that connects adjacent rollers.

ローラ支持体1の外周面11は、ローラ支持体側面から見ると、真っ直ぐに延びる平坦状下面部111と面部111に両端がつながって、キャスタ前進後退方向α(図1参照)において前後及び上方へ凸湾曲状に延びる面部112とからなる連続無端の面である。平坦状下面部111は、一見したところ平坦に見える程度に、僅かに下方へ凸湾曲するように形成されている。   When viewed from the side of the roller support, the outer peripheral surface 11 of the roller support 1 is connected to the flat bottom surface 111 and the surface 111 that extend straight, and the front and rear and the top in the caster forward and backward direction α (see FIG. 1). It is a continuous endless surface comprising a surface portion 112 extending in a convex curve. The flat lower surface portion 111 is formed so as to be slightly curved downward so that it looks flat at first glance.

ローラ支持体1は、中央部よりやや下がった部位に図示省略のキャスタ支持軸を挿入する貫通孔121を有するキャスタ支持軸装着部12を備えている。
ローラ支持体については後ほどさらに説明する。
The roller support 1 includes a caster support shaft mounting portion 12 having a through hole 121 into which a caster support shaft (not shown) is inserted at a position slightly lower than the central portion.
The roller support will be further described later.

複数のローラ2は隣り合うもの同士が互いに擦れ合わないように、隣り合うもの同士の間に若干の間隔が保たれるようにローラ支持体1の周囲に順次所定のローラ間隔をおいて配置されている。各隣り合うローラ2は連結部材3で互いに連結されており、連結部材3はそれが連結する隣り合うローラ2を、該隣り合うローラのそれぞれが前記ローラ配置間隔を維持しつつローラ支持体1上を転動できるように連結している。
各ローラ2は、ローラ支持体1の外周面に転動可能に接触している。
The plurality of rollers 2 are sequentially arranged around the roller support 1 at a predetermined roller interval so that the adjacent rollers do not rub against each other so that a slight gap is maintained between the adjacent rollers. ing. The adjacent rollers 2 are connected to each other by a connecting member 3, and the connecting member 3 connects the adjacent rollers 2 to which the adjacent rollers 2 are connected to each other on the roller support 1 while maintaining the interval between the rollers. Are connected so that they can roll.
Each roller 2 is in contact with the outer peripheral surface of the roller support 1 so that it can roll.

図2はキャスタAを平面から見て、且つ、平面から見える部分の一部を展開して示す図である。図3は図2のX−X線に沿う概略断面図である。図4はローラ連結部材3の斜視図である。
図1、図2及び図3から分かるように、各ローラ2は、キャスタ幅方向に間隔をおいて配置された一対のコロ21と、一対のコロ21を連結する、該コロより外径の小さいコロ軸22とを含んでいる。
FIG. 2 is a view showing the caster A in a plan view and a part of a portion that can be seen from the plane. FIG. 3 is a schematic sectional view taken along line XX of FIG. FIG. 4 is a perspective view of the roller connecting member 3.
As can be seen from FIGS. 1, 2, and 3, each roller 2 has a pair of rollers 21 arranged at intervals in the caster width direction and a pair of rollers 21, and has a smaller outer diameter than the rollers. The roller shaft 22 is included.

ローラ支持体1の外周面11にはその中央部に沿って凸条部113を形成してある。一対のコロ21は凸条部113の両外側においてローラ支持体外周面11に転動可能に接触している。ローラ支持体外周面の凸条部113は図3に示すように一対のコロ21とコロ軸22とで形成されるローラ凹所に嵌まっており、それによりコロ21の転動が許されるようになっている。   On the outer peripheral surface 11 of the roller support 1, a ridge 113 is formed along the center. The pair of rollers 21 are in contact with the outer peripheral surface 11 of the roller support so as to roll on both outer sides of the ridge 113. As shown in FIG. 3, the protrusion 113 on the outer peripheral surface of the roller support is fitted in a roller recess formed by a pair of rollers 21 and a roller shaft 22, so that the rollers 21 are allowed to roll. It has become.

各隣り合うローラを連結する連結部材3は、それが連結している隣り合うローラ2より、ローラ支持体1のキャスタ支持軸装着部12から見て外側まで突出した突出部分30を有しており、突出部分30はキャスタ走行路面Fに接触する平坦状外面30aを有している。平坦状外面30aは弾性材料(本例ではゴム材)からなる緩衝材30’で形成されている。   The connecting member 3 that connects each adjacent roller has a protruding portion 30 that protrudes outward as viewed from the caster support shaft mounting portion 12 of the roller support 1 than the adjacent roller 2 to which it is connected. The protruding portion 30 has a flat outer surface 30a that contacts the caster traveling road surface F. The flat outer surface 30a is formed of a cushioning material 30 'made of an elastic material (in this example, a rubber material).

さらに説明すると、連結部材3は、ローラ支持体外周面11における凸条部113の上方且つ一対のコロ21の内側に位置する一対のコロ軸支持部31と、該一対のコロ軸支持部31よりローラ支持体外周面の凸条部113の延在方向に突出するとともに該凸条部の上方に位置するコロ軸支持突出部32とを含んでいる。また、図4に示すように、各コロ軸支持部31はコロ軸22の通し孔31hを有しており、コロ軸支持突出部32もコロ軸22の通し孔32hを有している。   More specifically, the connecting member 3 includes a pair of roller shaft support portions 31 positioned above the protruding strips 113 on the roller support outer peripheral surface 11 and inside the pair of rollers 21, and the pair of roller shaft support portions 31. It includes a roller shaft support protrusion 32 that protrudes in the extending direction of the protrusion 113 on the outer peripheral surface of the roller support and is positioned above the protrusion. Further, as shown in FIG. 4, each roller shaft support portion 31 has a through hole 31 h of the roller shaft 22, and the roller shaft support protrusion 32 also has a through hole 32 h of the roller shaft 22.

キャスタA全体として複数ある連結部材3は、図2に示すように、各隣り合う連結部材3において一方の連結部材3のコロ軸支持突出部32が他方の連結部材3の一対のコロ軸支持部31の間に位置するように順次配列されており、前記ローラ2のコロ軸22は、一対のコロ軸支持部31とその間に配置されたコロ軸支持突出部32に貫通し、コロ軸両端部にコロ21を保持している。
これらコロ軸支持部31及びコロ軸支持突出部32は前記の連結部材突出部分30等で一体的につながっている。
As shown in FIG. 2, the plurality of connecting members 3 as a whole of the caster A includes a pair of roller shaft support portions of the other connecting member 3 in which the roller shaft supporting protrusions 32 of one of the connecting members 3 are adjacent to each other of the connecting members 3. The roller shaft 22 of the roller 2 passes through a pair of roller shaft support portions 31 and a roller shaft support protrusion 32 disposed therebetween, and both ends of the roller shaft are arranged. The roller 21 is held.
The roller shaft support portion 31 and the roller shaft support protrusion portion 32 are integrally connected by the connecting member protrusion portion 30 and the like.

図3に示すように、コロ軸22は両端面に円錐形凹所221を有しており、コロ軸22が連結部材3の一対のコロ軸支持部31とその間のコロ軸支持突出部32に貫通され、コロ軸両端部にコロ21が嵌合されたのち、コロ軸22両端の円錐形凹所221の外周縁部がコロ半径方向に広げかしめ処理されることで、抜け止め処理される。   As shown in FIG. 3, the roller shaft 22 has conical recesses 221 on both end faces, and the roller shaft 22 is formed on a pair of roller shaft support portions 31 of the connecting member 3 and a roller shaft support protrusion portion 32 therebetween. After the roller 21 is inserted into both ends of the roller shaft, the outer peripheral edge of the conical recess 221 at both ends of the roller shaft 22 is spread and caulked in the roller radial direction to prevent the roller 21 from coming off.

連結部材3は、ローラ支持体外周面11の平坦状下面部111に対応する位置に複数個ある。   There are a plurality of connecting members 3 at positions corresponding to the flat lower surface portion 111 of the roller support outer peripheral surface 11.

ローラ支持体1についてさらに説明する。図1に示すように、ローラ支持体1は可撓性を有する薄肉部10を備えている。この薄肉部10は、キャスタAをキャスタ走行路面Fに走行させるとき受けることがある衝撃を緩和する緩衝部として機能する。薄肉部10は、ローラ支持体1の外周面11のうち平坦状下面部111及び該下面部111に連なり、立ち上がる面部112’(前記面部112の一部)とキャスタ支持軸装着部12との間にローラ支持体幅方向に貫通する空間4を形成することで提供されている。   The roller support 1 will be further described. As shown in FIG. 1, the roller support 1 includes a thin portion 10 having flexibility. The thin-walled portion 10 functions as a buffer portion that relieves an impact that may be received when the caster A travels on the caster traveling road surface F. The thin-walled portion 10 is connected to the flat lower surface portion 111 of the outer peripheral surface 11 of the roller support 1 and the lower surface portion 111 between the rising surface portion 112 ′ (a part of the surface portion 112) and the caster support shaft mounting portion 12. It is provided by forming a space 4 penetrating in the width direction of the roller support.

ローラ支持体幅方向に貫通する空間4には、その少なくとも一部に緩衝部材を装填してもよい。例えば、図1に鎖線で示すように、キャスタ支持軸装着部12と薄肉部10のうちローラ支持体外周面11の平坦状下面部111に対応する部位との間に緩衝部材5を装填してもよい。   A buffer member may be loaded in at least a part of the space 4 penetrating in the width direction of the roller support. For example, as shown by a chain line in FIG. 1, the buffer member 5 is loaded between the caster support shaft mounting portion 12 and the portion corresponding to the flat lower surface portion 111 of the roller support outer peripheral surface 11 in the thin portion 10. Also good.

このような緩衝部材5は、キャスタAが走行中に好ましくない飛び跳ねをしないように、比較的柔らかい(反発性の低い)緩衝部材であることが好ましい。例えば、既述のローラ連結部材3のキャスタ走行路面Fに接触する平坦状外面30aを構成する緩衝材30’より柔らかい(反発性の低い)緩衝部材であることが好ましい。   Such a buffer member 5 is preferably a relatively soft (low rebound) buffer member so that the caster A does not jump undesirably during traveling. For example, it is preferable that the cushioning member be softer (lower in resilience) than the cushioning material 30 ′ constituting the flat outer surface 30 a that contacts the caster traveling road surface F of the roller connecting member 3 described above.

以上説明したキャスタAの動作等について説明する。
キャスタAは、ローラ支持体1のキャスタ支持軸装着部12に図示省略のキャスタ支持軸を装着し、該キャスタ支持軸を介して例えば手押し車本体等の、キャスタ取付け対象体(図示例ではキャスタ取付け対象部材6)に取り付けて用いることができる。さらに言えば、そのようにキャスタ取付け対象体に取り付けた状態で、ローラ支持体1の外周面11の平坦下面部111に対応して位置するローラ連結部材3の前記突出部分30の平坦状外面30aを路面、床面等のキャスタ走行路面Fに載置してキャスタ取付け対象体を押す、引っ張る等して移動させると、ローラ連結部材3の突出部分30が、ローラ支持体外周面11上に配列されたローラ2の該ローラ支持体外周面に沿う転動を伴ってローラ支持体1周囲を回動することで走行することができる。
The operation of the caster A described above will be described.
The caster A mounts a caster support shaft (not shown) on the caster support shaft mounting portion 12 of the roller support body 1, and a caster mounting target body (for example, caster mounting in the illustrated example) such as a handcart main body through the caster support shaft. It can be used by attaching to the target member 6). Further, the flat outer surface 30a of the protruding portion 30 of the roller connecting member 3 positioned corresponding to the flat lower surface portion 111 of the outer peripheral surface 11 of the roller support 1 in such a state attached to the caster attachment target body. Is placed on a caster traveling road surface F such as a road surface or a floor surface, and the caster mounting object is pushed, pulled or moved, the protruding portion 30 of the roller connecting member 3 is arranged on the outer peripheral surface 11 of the roller support. The roller 2 can travel by rotating around the roller support 1 with rolling along the outer peripheral surface of the roller support.

このようなキャスタAの走行においては、ローラ支持体外周面11のうちローラ支持体側面から見ると真っ直ぐ状に延びる平坦状下面部111に対応する位置にある複数のローラ連結部材3の突出部分30の平坦状外面30aが平坦状に連なって、従来の円形のキャスタや車輪と比べると、キャスタ移動方向において長く路面、床面等のキャスタ走行路面Fに接触しつつ走行する。   In such traveling of the caster A, the protruding portions 30 of the plurality of roller connecting members 3 located at positions corresponding to the flat lower surface portion 111 extending straight when viewed from the roller support side surface of the roller support outer peripheral surface 11. The flat outer surface 30a is connected in a flat shape and travels while being in contact with the caster traveling road surface F such as the road surface and the floor surface longer in the caster moving direction than the conventional circular casters and wheels.

そのため、例えば簀の子状、格子条等に形成されていたり、煉瓦、タイル等を所定間隔を開けて敷設したものである等のために凹凸部がある路面、床面等上に走行させても、キャスタAは該凹部の前後の凸部に接触したり、隣り合う凸部に接触するなどして、該凹凸部から受ける衝撃が小さく抑制される状態で、それだけ円滑に路面、床面等上を走行できる。   Therefore, for example, it is formed in the shape of a fence, lattices, etc., or even if it is run on a road surface, floor surface, etc. with uneven parts because it is laid with bricks, tiles etc. at a predetermined interval, The caster A touches the convex portions before and after the concave portion, or contacts adjacent convex portions, so that the impact received from the concave and convex portions is reduced to a small extent, and the caster A can smoothly travel on the road surface, floor surface, etc. Can run.

キャスタAにおいて、ローラ支持体1に、可撓性薄肉部10(或いはさらに緩衝部材5)からなる緩衝部が形成されているから、これにより、一層、路面等の凹凸部による衝撃を緩和することができる利点がある。なお、緩衝部材5を採用する場合、これで空間4を全体的に埋めるようにしてもよい。   In the caster A, the roller support 1 is formed with a buffer portion made of the flexible thin portion 10 (or further the buffer member 5), thereby further reducing the impact caused by the uneven portions such as the road surface. There is an advantage that can be. In addition, when employ | adopting the buffer member 5, you may make it fill the space 4 entirely by this.

本発明は、人力等で移動させる物品等に取り付けて用いるキャスタであって、例えば 簀の子状、格子条等に形成されていたり、煉瓦、タイル等を所定間隔を開けて敷設したものである等ために凹凸がある路面、床面等上に走行させても、該凹凸から受ける衝撃を小さく抑制できるキャスタを提供することに利用できる。   The present invention is a caster that is used by being attached to an article or the like that is moved by human power, etc., and is formed, for example, in the shape of a cocoon or lattice, or laid with bricks, tiles, etc. at predetermined intervals. It can be used to provide a caster that can suppress the impact received from the unevenness even when traveling on a road surface, floor surface, or the like having unevenness.

本発明に係るキャスタの1例の側面図である。It is a side view of one example of the caster concerning the present invention. 図1に示すキャスタを平面から見て、且つ、平面から見える部分の一部を展開して示す図である。It is a figure which expands and shows a part of part which sees the caster shown in FIG. 1 from a plane, and can be seen from a plane. 図2のX−X線に沿う概略断面図である。It is a schematic sectional drawing which follows the XX line of FIG. 連結部材の斜視図である。It is a perspective view of a connection member. 従来キャスタの1例を示す図である。It is a figure which shows one example of the conventional caster. 従来キャスタの他の例を示す図である。It is a figure which shows the other example of the conventional caster.

符号の説明Explanation of symbols

A キャスタ
1 ローラ支持体
11 ローラ支持体の外周面
111 ローラ支持体外周面の下面部
112 ローラ支持体外周面の凸湾曲状面部
112’凸湾曲状面部112のうち下面部111から立ち上がる部分
113 凸状部
12 キャスタ支持軸装着部
121 貫通孔
10 薄肉部
2 ローラ
21 コロ
22 コロ軸
221 コロ軸端面の円錐形凹所
3 連結部材
30 連結部材の突出部分
30a 突出部分30の平坦状外面
30’ 平坦状外面30aを形成している緩衝材
31 コロ軸支持部
31h コロ軸支持部のコロ軸通し孔
32 コロ軸支持突出部
32h コロ軸支持突出部のコロ軸通し孔
α キャスタの前進後退方向
F キャスタ走行路面
A caster 1 roller support 11 outer peripheral surface 111 of roller support lower surface portion 112 of outer peripheral surface of roller support convex curved surface portion 112 'of convex surface of roller support 113 portion 113 rising from lower surface portion 111 of convex curved surface portion 112 convex Shaped part 12 Caster support shaft mounting part 121 Through hole 10 Thin part 2 Roller 21 Roller 22 Roller shaft 221 Conical recess 3 of roller shaft end face Connecting member 30 Projecting part 30a of connecting member Flat outer surface 30 'of projecting part 30 Cushioning material 31 forming roller-shaped outer surface 30a Roller shaft support part 31h Roller shaft through hole 32 of roller shaft support part Roller shaft support projecting part 32h Roller shaft through hole α of roller shaft support projecting part F Road surface

Claims (8)

キャスタ支持軸装着部を有するローラ支持体と、
該ローラ支持体の周囲に順次所定のローラ配置間隔をおいて配置された複数のローラと、
該複数のローラにおける各隣り合うローラを、該隣り合うローラのそれぞれが前記ローラ配置間隔を維持しつつ前記ローラ支持体上を転動できるように連結する連結部材とを含んでおり、
前記ローラ支持体は、側面から見るとキャスタ前進後退方向において真っ直ぐ状に延びる平坦状下面部と、該平坦状下面部に両端部が連続して、キャスタ前進後退方向において前後及び上向きに凸湾曲状を呈する面部とからなる無端に連続する外周面を有し、
前記複数のローラのそれぞれは、前記ローラ支持体の外周面に転動可能に接触しており、
前記各隣り合うローラを連結する連結部材のそれぞれは、それが連結している隣り合うローラより、前記ローラ支持体のキャスタ支持軸装着部から見て外側まで突出した部分を有しており、該突出部分はキャスタ走行路面に接触する平坦状外面を有しており、
該連結部材は、前記ローラ支持体外周面の平坦状下面部に対応する位置に複数個あることを特徴とするキャスタ。
A roller support having a caster support shaft mounting portion;
A plurality of rollers sequentially arranged around the roller support at predetermined roller arrangement intervals;
A connecting member that connects each adjacent roller of the plurality of rollers so that each of the adjacent rollers can roll on the roller support while maintaining the roller arrangement interval;
When viewed from the side, the roller support has a flat bottom surface that extends straight in the forward and backward direction of the caster, and both ends are continuous with the flat lower surface, and is convexly curved forward and backward and upward in the forward and backward direction of the caster. And an endless continuous outer peripheral surface composed of a surface portion exhibiting
Each of the plurality of rollers is in rolling contact with the outer peripheral surface of the roller support,
Each of the connecting members for connecting the adjacent rollers has a portion protruding from the adjacent roller to which it is connected to the outside as viewed from the caster support shaft mounting portion of the roller support, The protruding portion has a flat outer surface that contacts the caster traveling road surface,
The caster according to claim 1, wherein a plurality of the connecting members are provided at positions corresponding to the flat lower surface portion of the outer peripheral surface of the roller support.
前記ローラ支持体の外周面の平坦状下面部は、下向きに凸湾曲した平坦状下面部となっている請求項1記載のキャスタ。   The caster according to claim 1, wherein the flat lower surface portion of the outer peripheral surface of the roller support body is a flat lower surface portion that is convexly curved downward. 前記各ローラはキャスタ幅方向に間隔をおいて配置された一対のコロと、該一対のコロを連結する、該コロより外径の小さいコロ軸とを含んでおり、該一対のコロが前記ローラ支持体の外周面に転動可能に接触しており、該ローラ支持体の外周面は、該一対のコロと該コロ軸とで形成されるローラ凹所が、該コロの前記転動が許されるように外嵌する凸条部を有している請求項1又は2記載のキャスタ。   Each of the rollers includes a pair of rollers arranged at intervals in the caster width direction, and a roller shaft that connects the pair of rollers and has a smaller outer diameter than the rollers. A roller recess formed by the pair of rollers and the roller shaft is allowed to roll on the outer peripheral surface of the roller support body. The caster according to claim 1, wherein the caster has a protruding portion that fits externally. 複数ある前記連結部材のそれぞれは、前記一対のコロの内側に位置する一対のコロ軸支持部と、該一対のコロ軸支持部より該ローラ支持体外周面の凸条部の延在方向に突出するとともに該凸条部の上方に位置するコロ軸支持突出部とを含んでおり、該複数の連結部材は、各隣り合う連結部材において一方の連結部材のコロ軸支持突出部が他方の連結部材の一対のコロ軸支持部の間に位置するとともに、前記コロ軸は、該一対のコロ軸支持部とその間に配置された該コロ軸支持突出部に貫通し、該コロ軸両端部に前記コロを有している請求項3記載のキャスタ。   Each of the plurality of connecting members protrudes in the extending direction of the ridges on the outer peripheral surface of the roller support from the pair of roller shaft support portions located inside the pair of rollers. And a roller shaft support protrusion positioned above the ridge, and the plurality of connecting members are arranged such that the roller shaft support protrusion of one connection member is the other connection member in each adjacent connection member. The roller shaft is located between the pair of roller shaft support portions, and the roller shaft passes through the pair of roller shaft support portions and the roller shaft support protrusions disposed between the pair of roller shaft support portions. The caster according to claim 3, comprising: 前記連結部材の、前記ローラ支持体のキャスタ支持軸装着部から見て前記ローラの外側まで突出した突出部分のキャスタ走行路面に接触する平坦状外面のうち少なくとも一部は緩衝材で形成されている請求項1から4のいずれかに記載のキャスタ。   At least a part of the flat outer surface of the connecting member that contacts the caster traveling road surface of the protruding portion that protrudes to the outside of the roller when viewed from the caster support shaft mounting portion of the roller support is formed of a cushioning material. The caster according to any one of claims 1 to 4. 前記ローラ支持体は、前記キャスタ支持軸装着部と、前記ローラが転動する外周面のうち少なくとも前記平坦状下面部との間に緩衝部を備えている請求項1から5のいずれかに記載のキャスタ。   The said roller support body is equipped with the buffer part between the said caster support shaft mounting part and at least the said flat lower surface part among the outer peripheral surfaces on which the said roller rolls. Casters. 前記ローラ支持体の緩衝部は、該ローラ支持体の外周面のうち、少なくとも前記平坦状下面部と前記キャスタ支持軸装着部との間にローラ支持体幅方向に貫通する空間を形成することで形成された、可撓性を示す、ローラ支持体外周に沿う薄肉部を含んでいる請求項6記載のキャスタ。   The buffer portion of the roller support member forms a space penetrating in the roller support width direction at least between the flat lower surface portion and the caster support shaft mounting portion of the outer peripheral surface of the roller support member. The caster according to claim 6, wherein the caster includes a thin portion formed along the outer periphery of the roller support, which is formed and exhibits flexibility. 前記ローラ支持体の緩衝部は、さらに、前記ローラ支持体幅方向に貫通する空間において、前記キャスタ支持軸装着部と前記薄肉部のうち少なくとも一部との間に装填された緩衝部材を備えている請求項7記載のキャスタ。   The buffer part of the roller support further includes a buffer member loaded between the caster support shaft mounting part and at least a part of the thin part in a space penetrating in the width direction of the roller support. The caster according to claim 7.
JP2006220344A 2006-08-11 2006-08-11 Casters Expired - Fee Related JP4950593B2 (en)

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JP2013147247A (en) * 2010-04-06 2013-08-01 Robotex Inc Robotic system and method of use
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