JP4989546B2 - Traveling body - Google Patents

Description

  The present invention relates to a traveling body employed in, for example, a transplanter.

Conventionally, as a traveling body employed in a transplanter, front and rear wheels are provided on both the left and right sides of the traveling body, a front wheel support shaft having a left-right axial center is provided at the front of the traveling body, and a mounting cylinder is provided on the upper end side. A front wheel is supported on the lower end side of the front wheel support arm so as to be rotatable about a left and right axis, and a front tube support arm is attached to the traveling body by coaxially fitting a mounting cylinder of the front wheel support arm on the front wheel support shaft. This is disclosed in Patent Document 1.
This traveling body is configured such that the tread of the front wheel can be changed by reversing the mounting cylinder of the front wheel support arm to the left and right and fitting it on the front wheel support shaft.
Japanese Patent Laid-Open No. 9-107736

In the conventional traveling body, when the toe angle of the front wheel can be adjusted, the toe angle is set before and after reversal by reversing the mounting cylinder of the front wheel support arm to the left and right and fitting it to the front wheel support shaft. There are cases where the adjustment of the same cannot be made the same.
If the toe angle cannot be adjusted in the same manner before and after the inversion, for example, a problem such as a decrease in straightness occurs.
Therefore, in the present invention, to change the tread, when the wheel support arm that supports the wheel is reversed left and right and attached to the traveling machine body, the toe angle can be adjusted in the same manner before and after the inversion. An object is to provide a traveling body that can be used.

The technical means taken by the present invention in order to solve the technical problem is provided with wheels on both the left and right sides of the traveling aircraft body, and each of the left and right wheels has a wheel support provided with an attachment portion attached to the traveling aircraft body on one end side. In the traveling body which is rotatably supported on the other end side of the arm, and which can change the tread of the wheel by reversing the mounting portion and attaching it to the traveling machine body,
When the mounting part of the wheel support arm is reversed left and right and attached to the traveling machine body, before and after reversing, the wheel is at the same height and the same for the longitudinal line passing through the wheel axis of rotation. The toe angle can be adjusted around the rotation axis of the angle.

Further, the traveling machine body is provided with a wheel support shaft having a left and right axial core, and the wheel support arm is attached to the traveling machine body by fitting the mounting portion of the wheel support arm coaxially with the wheel support shaft. In the state where the wheel rotates about the left and right axis, the toe angle can be adjusted around the rotation axis perpendicular to the line perpendicular to the axis of the wheel spindle and the axis of rotation of the wheel. Good.
The wheel support arm is attached to the arm main body, the mounting portion provided on the upper end side of the arm main body, the rotation support shaft provided on the lower end side of the arm main body, and the rotation support shaft. A toe angle adjustment mechanism and an axle that rotatably supports the wheel are provided. The toe angle adjustment mechanism is supported by a rotation plate that is fixed to the rotation support shaft, and is rotatably supported by the rotation support shaft around an axis. A movable plate that rotates integrally with the movable cylinder, and a fixing means that fixes the movable plate to the fixed plate. The axle is fixed to the movable cylinder, and the fixing means is released. Thus, it is preferable that the toe angle can be adjusted by rotating the movable plate and the movable cylinder around the axis of the rotation support shaft with respect to the fixed plate.

  According to the present invention, when the attachment portion of the wheel support arm is reversed left and right and attached to the traveling machine body, the toe angle of the wheel can be adjusted in the same manner before and after inversion.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In FIG. 2, reference numeral 1 denotes a walking type transplanter that moves soil block seedlings 2 such as vegetables at predetermined intervals while moving in the longitudinal direction of the ridge R.
The transplanter 1 includes a traveling body 3 that travels in the longitudinal direction of the heel R across the heel R, a transplant device 4 provided on the rear side of the traveling body 3, and a support frame that supports the transplant device 4. 5, a steering handle 7 that steers the traveling body 3, and a spare seedling table 8 for placing a spare seedling tray T including the seedlings 2 that have been grown.

The seedling tray T is made of plastic, has a thin wall, has flexibility, and includes a large number of pot portions P arranged in a grid pattern at a predetermined pitch in the vertical and horizontal directions. The parts are connected to each other by a flat thin wall part.
In this seedling tray T, soil block seedlings 2 that have been sown and grown on the floor soil supplied to each pot portion P are grown.
The support frame 5 extends rearward from the traveling body 3 and extends upward on the rear end side. The steering handle 7 has a front end connected to the rear end side of the support frame 5. Yes.

The transplanting device 4 is supplied from the seedling placing stand 9 for placing and supporting the seedling tray T, the seedling taking out device 10 for taking out the seedling 2 from the seedling tray T on the seedling placing stand 9, and the seedling taking out device 10. The planted body 11 for planting the seedling 2 on the ridge R, and the pressure-reducing wheel 12 (covering ring) for suppressing both the left and right sides of the seedling 2 planted on the ridge R are provided.
As shown in FIG. 3, the traveling body 3 includes a traveling machine body 13, a propulsion mechanism 14 that supports the traveling machine body 13 so as to travel, an engine 15 mounted on the traveling machine body 13, and the like.
The traveling machine body 13 includes a mission case 13A and a base 13B attached and fixed to the front portion of the mission case 13A so as to protrude forward from the mission case 13A.

The engine 15 is mounted on the front part on the gantry 13B.
The propulsion mechanism 14 is a wheel / crawler having a pair of left and right front wheels 17 (wheels, front infinite rotator) and a pair of left and right crawler belts 18 (rear infinite rotator) as an infinite rotator that rotates by rotating the intercostal groove M. A combined type infinite rotation propulsion mechanism is adopted.
The propulsion mechanism 14 includes a front wheel 17, a front wheel support arm 19 (wheel support arm) that supports the front wheel 17, a crawler type traveling device 20 disposed on the rear side of the front wheel 17, and the crawler type traveling device 20. Power transmission cases 21 to be supported are provided on both the left and right sides of the traveling machine body 13, and in each of the left and right transmission cases 21, power transmission including a chain transmission mechanism that transmits power from the engine 15 to the crawler type traveling device 20 is provided. The mechanism is stored.

The left and right front wheel support arms 19 are arranged in an inclined shape so as to move downward as they go rearward. The front wheel support arms 19 have a left and right axial core on the upper end side (front end side, one end side) and the left and right directions. The front wheel 17 is rotatably supported on the lower end side (rear end side, other end side) of each front wheel support arm 19.
As shown in FIGS. 4 and 5, a cylindrical shaft support 23 having a horizontal axis is provided on the front end side of the gantry 13 </ b> B. The shaft support 23 has a horizontal axis. The left and right inner ends of a pair of left and right front wheel support shafts 24 (wheel support shafts) are inserted, and the left and right front wheel support shafts 24 are supported by the shaft support 23 so as to be rotatable around a left and right axis. .

The left and right outer end sides of the left and right front wheel support shafts 24 are arm attachment portions 25 that are located on the outer side in the left and right direction of the shaft support 23 and are formed of hexagonal cylinders having left and right axial cores. Yes.
By attaching the mounting portion 22 of the front wheel support arm 19 on the same side in the left-right direction to the arm mounting portion 25 so as to be coaxially fitted and prevented from coming off, the front wheel support arm 19 is rotated around the shaft center. (The front wheel support arm 19 is attached to the traveling machine body 13), so that the front wheel support arm 19 swings up and down around the axis of the front wheel support shaft 24 on the shaft support 23 (traveling machine body 13). It is supported freely.

The left and right transmission cases 21 are arranged so as to extend rearward from the side surface of the transmission case 13A, and the front end side of each transmission case 21 extends in the left-right direction via the case support 26 on the side surface of the transmission case 13A. The transmission case 21 is swingable up and down.
A drive shaft 27 for driving the crawler type traveling device 20 is supported by a cylindrical shaft holder 21a provided on the rear end side of each of the left and right transmission cases 21 so as to be rotatable about a left and right axis. The drive shaft 27 protrudes inward in the left-right direction from the shaft holder 21a on the inner side in the left-right direction.

A shaft mounting bracket 28 is fixed to the rear end side of the transmission case 21, and a swing support shaft 29 having a left and right axis is fixed to the shaft mounting bracket 28 so as to protrude inward in the left and right direction. ing.
The crawler type traveling device 20 includes an upper drive wheel 30, a front idler 31 disposed in front of and below the drive wheel 30, and a rear idler 32 disposed behind and below the drive wheel 30. And a plurality of roller wheels 33 disposed between the front and rear idlers 31 and 32, and the endless belt-like crawler belt 18 wound around the drive wheels 30, the front and rear idlers 32 and the wheel 33.

The driving wheel 30 is attached and fixed to the driving shaft 27 provided on the rear end side of the transmission case 21 so as to be integrally rotatable, and the front and rear idlers 31 and 32 and the rolling wheel 33 are on the lower side of the swing frame 34. The upper side of the swing frame 34 is supported by the swing support shaft 29 below the drive shaft 27 so as to be rotatable about the axis. ing.
The transmission case 13A is provided with a pair of left and right output shafts 35 projecting outward in the left-right direction. Power from the engine 15 is transmitted to the output shaft 35, and power in the transmission case 21 is transmitted from the output shaft 35. Power is transmitted to the drive shaft 27 via a transmission mechanism, and the drive wheel 30 is rotationally driven to rotate the drive wheel 30, and the crawler belt 18 that engages with the drive wheel 30 circulates in the circumferential direction. It is configured to rotate (rotate).

Further, the swing frame 34 is provided with a checker 36 formed in an open U-shape toward the upper side, and the shaft holder 21a on the rear end side of the transmission case 21 is inserted into the checker 36. The shaft holder 21 a is in contact with the front and rear wall portions of the checker 36, so that the swing of the swing frame 34 around the swing support shaft 29 is restricted.
Each of the left and right front wheel support shafts 24 is provided with a front bracket 37 that protrudes upward, and each of the left and right case supports 26 is provided with a rear bracket 38 that protrudes upward. The front and rear brackets 37 and 38 on the same side are interlocked and connected by an interlocking rod 39.

Further, a shaft support 40 having a left and right axial core is supported in the front and rear guide grooves 6 formed on the left and right sides of the mount 13B of the traveling machine body 13 so as to be movable in the front and rear directions. Is inserted so as to protrude from both the left and right sides, and the rolling shaft 41 is supported by the shaft support 40 so as to be rotatable around the axis in the left-right direction.
An upper lever 42 that protrudes upward is provided on one of the left and right sides of the rolling shaft 41, and a lower lever 43 that protrudes downward is provided on the other left and right sides of the rolling shaft 41. , 43 and the upper and lower levers 42, 43 and the rear bracket 38 on the same side in the left-right direction are linked and connected by a connecting link 44.

The gantry 13B is provided with an elevating cylinder 45 and a rolling cylinder 46, and the elevating cylinder 45 and the rolling cylinder 46 are constituted by hydraulic cylinders.
The tube 45a of the elevating cylinder 45 is fixed to the gantry 13B, and the piston rod 45b protrudes rearward and is connected to the shaft support 40.
Further, the tube 46a of the rolling cylinder 46 is supported by the gantry 13B so as to be rotatable about the left and right axes around the pivot portion 47 on the front side, and the piston rod 46b protrudes toward the rear side. It is pivotally attached to an arm 48 provided on the left side so as to protrude downward.

When the piston rod 45b of the elevating cylinder 45 is moved forward and backward, the shaft support 40 and the rolling shaft 41 move back and forth, and the left and right rear brackets 38 are pushed and pulled by the left and right connecting links 44, and the left and right transmission cases 21 are moved up and down. The left and right front brackets 37 are pushed and pulled by the left and right interlocking rods 39, and the left and right front wheel support arms 19 are swung up and down.
Accordingly, the left and right front wheels 17 and the left and right crawler type traveling devices 20 simultaneously move up and down relatively with respect to the traveling machine body 13 and the front wheels 17 and the crawler belt 18 are inevitably grounded. The traveling machine body 13 is configured to move up and down with respect to the ground plane.

Further, when the piston rod 46b of the rolling cylinder 46 is advanced and retracted, the rolling shaft 41 rotates, and one connecting link 44 pushes one rear bracket 38 and the other connecting link 44 moves the other rear bracket 38. To move.
As a result, the left and right front wheels 17 and the crawler type traveling device 20 rise relative to the traveling machine body 13, and the left and right other front wheels 17 and the crawler type traveling apparatus 20 descend relative to the traveling machine body 13. And it is comprised so that the inclination with respect to the left-right direction of the traveling body 13 can be corrected.

2 and 3 show a state where the transplanter 1 is in a planting posture in which the seedling 2 is planted on the heel R. FIG.
As shown in FIGS. 4, 5, and 6, the front wheel support arm 19 includes a long arm body 49, the mounting portion 22 provided on the upper end side (in the longitudinal direction) of the arm body 49, A rotation support shaft 50 provided on the lower end side (in the longitudinal direction) of the main body 49, a toe angle adjustment mechanism 51 provided on the rotation support shaft 50, and an axle 52 provided on the toe angle adjustment mechanism 51. The front wheel 17 is supported on the axle 52 so as to be rotatable around the axis.

The upper end side of the arm main body 49 is fixed at a position that is biased from the central portion in the left-right direction of the mounting portion 22 to one end portion in the left-right direction.
The mounting portion 22 of the front wheel support arm 19 is provided with pin insertion holes 53 on both the left and right sides, and the arm mounting portion 25 of the front wheel support arm 19 is provided with a plurality of pin insertion holes 54 spaced in the left-right direction. Is formed.
In the present embodiment, four pin insertion holes 54 formed in the arm attachment portion 25 are provided, but three or less, five or more may be provided, or one may be provided. .

As shown in FIG. 7, the pin insertion hole 53 formed in the attachment portion 22 of the front wheel support arm 19 and the pin insertion hole 54 formed in the arm attachment portion 25 of the front wheel support shaft 24 have two opposing wall portions 22a. , 25a.
The pin insertion holes 53 and 54 are formed around a line b perpendicular to the wall portions 22a and 25a in which the pin insertion holes 53 and 54 are formed and passing through the axis a of the front wheel support shaft 24. The mounting portion 22 of the front wheel support arm 19 is connected to the front wheel support shaft 24 so that the pin insertion hole 53 of the mounting portion 22 of the front wheel support arm 19 and the pin insertion hole 54 of the arm mounting portion 25 of the front wheel support shaft 24 coincide with each other. The pin insertion holes 53 and 54 can be externally fitted to the arm mounting portion 25 even if the mounting portion 22 of the front wheel support arm 19 is reversed left and right and externally fitted to the arm mounting portion 25 of the front wheel support shaft 24. Are formed to match.

The pin insertion holes 53 on the inner side in the left-right direction of the attachment portion 22 of the front wheel support arm 19 are made to coincide with any one of the pin insertion holes 54 of the arm attachment portion 25 of the front wheel support shaft 24, so that these pin insertion holes 53, The front wheel support arm 19 is positioned in the left-right direction with respect to the front wheel support shaft 24 by inserting the pins through 54.
Further, by selectively matching the pin insertion hole 53 on the inner side in the left-right direction of the mounting portion 22 of the front wheel support arm 19 with the pin insertion hole 54 of the arm mounting portion 25 of the front wheel support shaft 24, the tread of the front wheel 17. Can be changed.

Further, the front wheel 17 is disposed on the side of the arm main body 49 of the front wheel support arm 19 and on the side where the arm main body 49 is located from the center in the left-right direction of the mounting portion 22.
Then, the tread of the front wheel 17 can be changed and the adjustment range of the tread can be expanded as shown in FIGS. 4 and 5 by reversing the attachment portion 22 of the front wheel support arm 19 and attaching it to the front wheel support shaft 24. it can.
The tread adjustment of the crawler type traveling device 20 can be adjusted, for example, such that the crawler type traveling device 20 can be adjusted in the left-right position with respect to the transmission case 21, or the transmission case 21 can be adjusted in the left-right direction with respect to the transmission case. It is comprised so that it can carry out by supporting to.

One end side in the axial direction of the rotation support shaft 50 is larger in diameter than the other end side, and the lower end side of the arm body 49 is fixed to the large diameter portion 55 on one end side in the axial direction.
A screw shaft portion 57 is provided at the end of the small diameter portion 56 on the other end side in the axial direction of the rotation support shaft 50 on the side opposite to the large diameter portion 55.
The toe angle adjusting mechanism 51 includes a fixed plate 58 fixed to the rotating support shaft 50, a movable cylinder 59 that is externally fitted around a small-diameter portion 56 of the rotating support shaft 50 so as to be rotatable about an axis, A movable plate 60 fixed to the movable cylinder 59 and a fixing means 61 for fixing the movable plate 60 to the fixed plate 58 are provided.

The fixed plate 58 is formed with an insertion hole 62 through which the small-diameter portion 56 of the rotation support shaft 50 is inserted. The small-diameter portion 56 of the rotation support shaft 50 is inserted into the insertion hole 62 and the large-diameter portion 55 is fixed to the fixed plate. The fixing plate 58 is fixed to the rotating support shaft 50 by inserting the fixing plate 58 to the rotating support shaft 50 and then fixing the fixing plate 58 to the rotating support shaft 50.
The movable plate 60 has an insertion hole 63 through which the movable cylinder 59 is inserted. The movable plate 60 is fixed to the movable cylinder 59 by welding or the like by inserting one end side of the movable cylinder 59 in the axial direction. ing.

In addition, the movable cylinder 59 is externally fitted to the small diameter portion 56 of the rotation support shaft 50 so as to be rotatable about the axis so that the movable plate 60 contacts the fixed plate 58.
Further, the nut 66 is screwed into the screw shaft portion 57 of the rotation support shaft 50 via the thrust washer 64 and the spring washer 65, so that the movable tube 59 is removed from the small diameter portion 56 of the rotation support shaft 50. Stopped.
The axle 52 is fixed to the outer peripheral surface of the movable cylinder 59 so that the axis c of the axle 52 is orthogonal to the axis d of the movable cylinder 59 (axis d of the rotation support shaft 50).

Therefore, by rotating the movable cylinder 59 and the movable plate 60 around the axis d of the rotation support shaft 50, the front wheel 17 rotates around the axis d of the rotation support shaft 50, and the direction of the front wheel 17 is changed. The toe angle (toe-in, toe-out) of the front wheels 17 can be adjusted.
The axis d of the rotation support shaft 50 is a rotation axis d for adjusting the toe angle of the front wheel 17.
Further, the fixed plate 58 is formed with an arc-shaped adjustment groove 67 whose center is the axis d of the rotation support shaft 50, and the movable plate 60 is formed with a circular bolt insertion hole 68 communicating with the adjustment groove 67. Has been.

The fixing means 61 includes a bolt 69 and a nut 70. The bolt 69 is inserted into the adjustment groove 67 and the bolt insertion hole 68, and the nut 70 is screwed into the bolt 69 and tightened to tighten the fixing plate 58. The movable plate 60 is fixed, and the fastening of the bolt 69 to the nut 70 is loosened, so that the movable plate 60 can rotate about the axis d of the rotation support shaft 50 with respect to the fixed plate 58.
Therefore, the toe angle of the front wheel 17 can be adjusted within a range in which the bolt 69 moves in the adjustment groove 67.

And when the volt | bolt 69 is located in the center of the longitudinal direction of the adjustment groove 67, it is comprised so that the axial center c of the axle shaft 52 may correspond with the left-right direction (the front wheel 17 faces the front direction of advancing).
The adjustment groove 67 may be formed in the movable plate 60, and the bolt insertion hole 68 may be formed in the fixed plate 58.
In the support structure for the front wheel 17 having the above-described configuration, as shown in FIG. 1, the front wheel 17 rotates around the left and right axis in a state where the shaft core c of the axle 52 is aligned with the left and right direction. ), The rotation axis c is configured to be orthogonal to a line e orthogonal to the axis a of the front wheel support shaft 24 and the axis c of the axle 52 (the rotation axis of the front wheel 17).

Then, as shown in FIG. 1A, the mounting portion 22 of the front wheel support arm 19 is removed from the arm mounting portion 25 of the front wheel support shaft 24 from the state where the movable cylinder 59 is located on the lower side of the rotation support shaft 50. When the attachment portion 22 of the front wheel support arm 19 is attached to the arm attachment portion 25 of the front wheel support shaft 24 in this inverted state, as shown in FIG. 50 is located on the upper side.
Before and after the reversal, the axis d of the rotation support shaft 50 is at the same angle g with respect to the line f in the front-rear direction.

Before and after inversion, the distance L1 in the front-rear direction and the distance L2 in the up-down direction between the axis a of the front wheel support shaft 24 and the axis c of the rotation support shaft 50 are set to the same size. 17, the toe angle can be adjusted around the rotation axis d of the same angle g with respect to the line f in the front-rear direction at the same height position before and after inversion. The toe angle of the front wheel 17 can be adjusted in the same manner.
FIG. 8 shows a comparative example in which the toe angle cannot be adjusted in the same manner before and after the inversion when the front wheel support arm 19 is installed by being inverted horizontally.

8A shows one of the front wheel support arm 19 before or after inversion, and FIG. 8B shows the other of the front wheel support arm 19 before or after inversion.
In this comparative example, a line e perpendicular to the axis a of the front wheel support shaft 24 and the axis c of the axle 52 rotates in a state where the axis c of the axle 52 coincides with the left-right direction. The toe angle of the front wheel 17 cannot be adjusted in the same way before and after reversal because it is not orthogonal to the axis d of the moving support shaft 50.
The present invention is not limited to that of the above-described embodiment, and a rear wheel may be adopted instead of the crawler type traveling device 20, and the rear wheel is placed on the lower end side of the wheel support arm. The present invention may be applied to a structure in which the rear wheel tread can be changed by supporting the toe angle so as to be adjustable and inverting the wheel support arm.

  The transplanter that employs the present invention may be a riding type, and the present invention may be employed in other working machines.

It is a side view which shows the attachment state before the reverse of the front wheel and after the reverse. It is a side view of a transplant machine. It is a side view of a traveling body. It is a plane schematic diagram which shows one state before inversion or after inversion. It is a plane schematic diagram showing the other state before inversion or after inversion. (A) is side surface partial sectional drawing of the attachment part of a front wheel, (b) is an AA arrow directional view of (a). It is side surface sectional drawing of the attachment part of a front-wheel support arm. It is a side view which shows the attachment state before and after inversion of the front wheel which concerns on a comparative example.

Explanation of symbols

13 traveling aircraft 17 wheels (front wheels)
19 Wheel support arm (front wheel support arm)
22 Mounting part 24 Wheel spindle (front wheel spindle)
49 Arm body 50 Rotating spindle 51 Toe angle adjusting mechanism 52 Axle 58 Fixed plate 59 Movable cylinder 60 Movable plate 61 Fixing means a Front shaft spindle d Rotating shaft core (Rotating shaft core)
e Line perpendicular to the axis of the wheel spindle and the axis of rotation of the wheel f Line in the front-rear direction g Angle

Claims (3)

A wheel support arm (19) provided with wheels (17) on both left and right sides of the traveling machine body (13), and each of the left and right wheels (17) provided with an attachment portion (22) attached to the traveling machine body (13) on one end side. In the traveling body which is rotatably supported on the other end side of the vehicle, the tread of the wheel (17) can be changed by attaching the mounting portion (22) to the traveling body (13) by reversing the left and right.
When the attachment part (22) of the wheel support arm (19) is reversed left and right and attached to the traveling machine body (13), the wheel (17) is at the same height position before and after inversion, and the wheel (17 The toe angle can be adjusted around the rotation axis (d) at the same angle (g) with respect to the longitudinal line (f) passing through the rotation axis (c) . A traveling body characterized by.   The traveling machine body (13) is provided with a wheel support shaft (24) having a left and right axial core (a), and a mounting portion (22) of a wheel support arm (19) is coaxially formed on the wheel support shaft (24). In the state where the wheel support arm (19) is attached to the traveling machine body (13) by the fitting, and the wheel (17) rotates around the left and right axis, the shaft core (a) and the wheel ( 17. The toe angle can be adjusted around a rotation axis (d) orthogonal to a line (e) orthogonal to the rotation axis (c) of 17). The traveling body described.   The wheel support arm (19) includes an arm main body (49), the attachment portion (22) provided on the upper end side of the arm main body (49), and a rotation provided on the lower end side of the arm main body (49). The toe angle adjusting mechanism includes a support shaft (50), a toe angle adjusting mechanism (51) attached to the rotating support shaft (50), and an axle shaft (52) that rotatably supports the wheel (17). (51) includes a fixed plate (58) fixed to the rotation support shaft (50), a movable cylinder (59) supported on the rotation support shaft (50) so as to be rotatable about the axis, A movable plate (60) that rotates integrally with the movable cylinder (59) and a fixing means (61) that fixes the movable plate (60) to the fixed plate (58) are provided, and the movable cylinder (59) includes an axle. (52) is fixed, the fixing means (61) is released and the movable plate (60) is released. In addition, the toe angle can be adjusted by rotating the movable cylinder (59) about the axis (d) of the rotation support shaft (50) with respect to the fixed plate (58). The traveling body according to claim 1 or 2.

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