JPH08216891A - Travel device equipped with directional control means of traveling wheel - Google Patents

Abstract

PURPOSE: To enable a travel device to travel in a stable attitude in time of normal traveling as well as to make the stoppage or traverse motion of a different stable attitude achievable according to necessity, pertaining to this travel device equipped with a directional control means of paired traveling wheels. CONSTITUTION: This is a travel device 11 with a pair of traveling wheels in front and in the rear, and it is composed of installing an interlocking means 17 which sets either of these paired traveling wheels to a universal wheel 13 and simultaneously makes another paired traveling wheel 14 controllable to be positioned to both parallel and orthogonal directions to the traveling direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device having a control means for traveling wheels. In a medical device as shown in FIG. 19, particularly, for example, the ultrasonic diagnostic device 1 or the like, a pair of free wheels 3, 3 and 4, is provided on the lower bottom portion of the device body 2.
4 is provided with the moving device 5, and the moving device 5 allows the moving device 5 to move along a passage or manually move to a desired position such as a room. Note that FIG. (A) is a side view and FIG. (B) is a front view.

The swivel wheels 3 and 4 have 360 degrees around the vertical axis 6.
Since it is rotatable in the direction of ° and convenient for changing the moving direction to an arbitrary direction or for minutely moving in the lateral direction, it is widely used in various moving devices.

The moving device 5 may be integrally combined with the device main body 2 or may be a separate independent device, and the device main body 2 may be mounted on the moving device 5 to move it. Although it can be arbitrarily set as needed, the present invention includes any of such aspects. Also, regarding the free wheels and the running wheels described later,
It also includes a state in which the vehicle can travel freely and a releaseable brake or stopper for restricting the traveling rotation of the wheels.

[0004]

2. Description of the Related Art In the moving device 5 as described above, it is very convenient to move all four wheels as free wheels, but due to the flexibility, the unevenness of the floor is caused when moving straight in a certain direction. Depending on the degree and the degree of pressing of the left and right hands attached to the main body of the device, there are inconveniences such as meandering state without moving straight or moving diagonally, and changing the posture to change the moving direction from straight moving state Even if it is done, there is a disadvantage that it does not proceed in the changing direction but moves in an oblique direction by inertia.

In order to eliminate such an inconvenience, either of the front and rear traveling wheels is fixed in a parallel state. By doing so, the inconveniences described above are eliminated. However, when changing the moving direction, a relatively large radius of gyration is required as compared with a case where four wheels are used as free wheels, and transverse movement in the lateral direction is impossible.

As shown in FIG. 20, free wheels 3, 4
However, if the space between the free wheels 3 and 4 is closer than the height of the main body 2 of the apparatus, the sideways push or the
It is easy to fall in the direction of the arrow due to contact with your body, and you may fall at worst.

[0007]

SUMMARY OF THE INVENTION The present invention solves the conventional inconvenience in view of the above-mentioned conventional problems, and
It is an object of the present invention to provide a novel traveling device capable of traveling in a stable posture during normal traveling and capable of stopping or traversing in different stable postures as needed.

[0008]

The object of the present invention to solve the above-mentioned problems is to provide a traveling device having a pair of front and rear traveling wheels, wherein one of the pair of traveling wheels is provided. Is a free wheel, and a traveling device having a traveling wheel direction control means provided with interlocking means for positioning and controlling the other pair of traveling wheels in a direction parallel and a direction orthogonal to the traveling direction.

In the direction in which the traveling wheels are positioned in the direction orthogonal to the traveling direction, the wheels are preferably positioned outside the vertical axis. A preferred first mode of the interlocking means is a gear train. The second aspect is a rope member. The third aspect is a chain member. The fourth aspect is a belt member. Furthermore, the fifth aspect is a link member. The link member in the fifth aspect may be provided with an accumulating means for urging the traveling wheels to be positioned in any direction.

[0010]

According to the above construction means of the present invention, the direction control wheels are made to coincide with the traveling direction by the pair of free wheels and the pair of wheels having the pair of direction control means, whereby a stable traveling posture is maintained, and the traveling direction. Can be done smoothly when changing.
By making the direction control wheels orthogonal to the traveling direction, the stationary state can be set to a stable posture, and in that state, the vehicle can traverse in a direction orthogonal to the traveling direction.

The reason why the traveling wheels are positioned in the direction orthogonal to the traveling direction is that the wheels are positioned outside the vertical axis, so that the traveling wheels can be stopped in a very stable posture or when the vehicle traverses. Also remains stable.

By using the gear train as the interlocking means, it is possible to easily and surely change the direction without causing slippage. Further, by appropriately setting the gear ratio, the operation rotation angle can be reduced or the operation can be performed with a slight force.

By using the rope members as the interlocking means, if the rope members are fixed to each other, the direction can be easily and surely changed without slipping. Further, by setting the diameter of the sheave for driving the rope as appropriate, the operation rotation angle can be reduced or the operation can be performed with a slight force.

By using the chain member as the interlocking means, it is possible to easily and surely change the direction without causing slippage. Also, by appropriately setting the sprocket diameter for chain driving, the operation turning angle can be reduced. Can be obtained or manipulated with slight force.

By using the belt member as the interlocking means, when the belt members are fixed to each other, the direction can be easily and surely changed without slipping. Further, by making the pulley for driving the belt have an appropriate diameter, the operation rotation angle can be reduced or the operation can be performed with a slight force.

By using the link member as the interlocking means, the ratio of the links to be connected can be appropriately set, so that the operation can be performed easily and reliably and can be operated with a slight force. In addition, it is possible to apply energy storage means, which ensures the positioning and maintenance.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A travel device having a traveling wheel direction control means according to the present invention will be described in detail below with reference to the drawings in an embodiment based on the concept of the construction. The same parts are denoted by the same reference numerals throughout the drawings.

1 to 3 show a first embodiment of the traveling apparatus 11 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 are provided at both ends of the bottom surface of the device body 12, and a pair of traveling wheels 14, 1 that can be positioned and controlled at two positions.
4 and are attached.

As shown in FIG. 1, the swivel wheels 13 are rotatable about their respective vertical axes 15 and are positioned at arbitrary positions within a circle within a circle indicated by an alternate long and two short dashes line in accordance with the traveling direction. It is directed.

The running wheels 14 are parallel to the running direction shown by the solid line about each vertical axis 16 and
The interlocking member 17 as interlocking means is provided at two positions, that is, a direction indicated by a chain double-dashed line that is orthogonal to the traveling direction.
Can be interlocked with each other and can be fixed at each position.

Since the running wheels 14 are connected and restrained by the interlocking member 17, each of the running wheels 14 is rotated one quarter turn with respect to the vertical shaft 16, that is, rotated 90 ° to the position shown by the chain double-dashed line. It has become so.

Both ends of the interlocking member 17 are rotated by shafts 21 between the tip of an arm 18 extending from one traveling wheel 14 in the traveling direction and the tip of an arm 19 extending in the lateral direction from the other traveling wheel 14. By being movably engaged, it is possible to control the rotation of the traveling wheel 14 to the 90 ° position. At each position, a locking pin (not shown) is inserted and engaged between the traveling device 11 and the traveling wheel 14, so that the vehicle can be positioned and fixed at any of both positions.

As shown in FIG. 2, the traveling device 11 is capable of traveling in a direction indicated by an arrow A and a direction indicated by an arrow B with the traveling wheel 14 as a solid line position. When traveling in the direction indicated by arrow A, the universal wheel 13 is in the solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the alternate long and two short dashes position. The position of the traveling wheel 14 does not change during traveling in either direction, and the swivel wheel 13 does not move when the direction is changed.
It turns around 5 and is oriented according to the traveling direction.

Since the traveling wheels 14 are fixed in the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

When the traveling wheels 14 are positioned in the orthogonal direction indicated by the alternate long and two short dashes line with respect to the traveling direction as required, the grounding point of the traveling wheels 14 on the floor surface is vertical as shown in FIG. Since it is located on both outer sides of the position of the shaft 16, the posture is stable and it is difficult to tilt.

Making the direction of the traveling wheels 14 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B shown in FIG. The device can be laterally moved in the direction of arrow C or arrow D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position indicated by the chain double-dashed line according to the moving direction.

When the direction of the traveling wheels 14 is changed, the apparatus body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. FIG. 4 shows a second embodiment of the traveling device 25 of the present invention as viewed from the bottom side. A pair of free wheels 13 and 13 and a pair of traveling wheels 26 and 26 which can be positionally controlled at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The swivel wheels 13 are rotatable about their respective vertical shafts 15 and are oriented to positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction.

The running wheels 26 are parallel to the running direction indicated by the solid line about each vertical axis 27,
The gear train 28 as an interlocking device interlocks with two positions, that is, a direction indicated by a two-dot chain line which is a direction orthogonal to the traveling direction, so that the position can be fixed at each position.

Since the running wheels 26 are connected and restrained by the gear train 28, each of the running wheels 26 is rotated one quarter turn with respect to the vertical shaft 27, that is, rotated 90 ° to the outer position shown by the chain double-dashed line. It is supposed to be done.

A driven gear 29 having the same diameter is provided on each of the traveling wheels 26, and they can rotate in conjunction with each other. A drive gear 31 is arranged in the middle of the gear train 28, and can be rotated by a handle 32 provided on the upper portion of the apparatus main body 12. Intermediate gears 33, 34-1, 34-2 are arranged and interlocked between the drive gear 31 and the driven gear 29, respectively. The gear is preferably a simple spur gear.

A one-step intermediate gear 33 is provided between the drive gear 31 and the driven gear 29 on the left side in the drawing, and two intermediate gears 34 are provided in series between the drive gear 31 and the passive gear 29 on the right side in the drawing.
-1, 34-2 are arranged respectively.

With this structure, when the handle 32 is rotated in the clockwise arrow direction, the traveling wheel 26 on the left side in the figure is rotated clockwise around the vertical shaft 27, and the traveling wheel on the right side in the figure is traveled. The wheel 26 is rotated counterclockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the chain double-dashed line to stop the positioning.
The position of the traveling wheel 26 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally.

When the handle 32 is disengaged from the locking means and rotated in the counterclockwise arrow direction, the traveling wheel 26 on the left side in the drawing is rotated counterclockwise around the vertical shaft 27, The traveling wheel 26 on the right side in the drawing is rotated clockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the solid line to stop the positioning.
The position of the traveling wheel 26 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally. As described above, the traveling wheels 26 can be positioned and fixed at both positions.

As shown in FIG. 4, the traveling device 25 is capable of traveling in a direction indicated by an arrow A and a direction indicated by an arrow B with the traveling wheel 26 as a solid line position. When traveling in the direction indicated by arrow A, the free wheel 13 is in the solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the drawing. The position of the traveling wheel 26 is immovable during the traveling movement in any direction, and when the traveling direction is changed, the free wheel 13 rotates around the vertical axis 15 and is oriented according to the traveling direction.

Since the traveling wheels 26 are fixed with respect to the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

When the traveling wheel 26 is positioned in the orthogonal direction indicated by the alternate long and two short dashes line with respect to the traveling direction as required, the grounding point of the traveling wheel 26 on the floor surface is located outside the vertical axis 27. Therefore, the posture becomes stable and it is difficult to tilt.

Setting the direction of the traveling wheels 26 to be orthogonal to the traveling direction is nothing but the stop state,
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 26 according to the moving direction.

The arrangement of the gear train 28 is not limited to the illustrated embodiment, and the traveling wheels 26 are rotated from the parallel state to the direction in which they are separated from each other so that the separated wheels are changed from the parallel state to the parallel state. As long as it is an array, various combinations can be applied and implemented. Further, the teeth of the gear may be formed only in a portion necessary for rotation without being formed on the entire circumference.

When the direction of the traveling wheels 26 is changed, the apparatus body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. FIG. 5 is a third embodiment showing the traveling device 35 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of running wheels 36, 36 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The free wheels 13 are rotatable about their respective vertical shafts 15 and are directed to positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction.

The running wheels 36 are parallel to the running direction indicated by the solid line about each vertical axis 37.
Two positions, that is, a direction indicated by a two-dot chain line which is a direction orthogonal to the traveling direction, are interlocked by a rope member composed of a rope 38 as interlocking means and a sheave or a pulley to be described later, and the respective positions are interlocked. The position can be fixed at.

Since the traveling wheels 36 are connected and restrained by the ropes 38, they are rotated by a quarter turn with respect to the vertical shaft 37, that is, they are rotated 90 ° to the outer position shown by the chain double-dashed line. It has become so.

The traveling wheels 36 are provided with sheaves or pulleys 39 of the same diameter for hanging the ropes 38 on them,
It can rotate integrally. A drive sheave or pulley 41 is arranged in the middle, and can be rotated by a handle 42 provided on the upper portion of the apparatus main body 12. The rope 38 is stretched between pulleys 39 of both traveling wheels 36 and an intermediate driving pulley 41.

The method of arranging the rope 38 will be described with reference to FIG. 6. One rope 38 is provided in the same direction between the driving pulley 41 and the pulley 39 of the traveling wheel 36 on the left side in the figure. The driving pulley 41 and the pulley 39 of the traveling wheel 36 on the right side in the drawing are rotated so as to rotate in the opposite direction.

As shown in the drawing, the rope 38 is appropriately wound around the pulleys 41 and 39 a plurality of times. By winding the rope a plurality of times in this way, a portion in which the rope 38 does not separate from the pulleys 41, 39 is obtained within the rotation range of the traveling wheel 36. Therefore, this rope portion can be screwed into the pulleys 41, 39. It is pressed down and fixed to the pulleys 41, 39 by a presser.

If both ends of the rope 38 are utilized by utilizing the portions to be pressed and fixed, the ends can be cleaned well without connecting the ropes 38 as one unit. Rope 38
It is necessary to stretch the rope in an appropriate tension state, but such a thing becomes easy, and it becomes possible to correct the extension of the rope 38 at a later date.

By fixing the rope 38 to the pulleys 41 and 39, the traveling wheels 36 are surely interlocked with each other without displacement, and a state not dependent on frictional conduction can be obtained. This is because the pulley 41,
The number of windings on 39 may be appropriately plural, and is not limited to the illustrated state.

With the above configuration, when the handle 42 is rotated in the clockwise arrow direction, the traveling wheel 36 on the left side in the figure is rotated clockwise around the vertical shaft 37, and the traveling wheel 36 on the right side in the figure is rotated. The traveling wheel 36 is rotated counterclockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the chain double-dashed line to stop the positioning.
The position of the traveling wheel 36 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally.

When the handle 42 is disengaged from the locking means and rotated in the counterclockwise arrow direction, the traveling wheel 36 on the left side in the drawing is rotated counterclockwise around the vertical shaft 37, The traveling wheel 36 on the right side in the drawing is rotated clockwise, and comes into contact with a positioning stopper (not shown) at the position indicated by the solid line to stop the positioning.
The position of the traveling wheel 36 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally. As described above, the position of the traveling wheel 36 can be positioned and fixed at both positions.

As shown in FIG. 5, the traveling device 35 is capable of traveling in the direction indicated by arrow A and the direction indicated by arrow B with the traveling wheel 36 as the solid line position. When traveling in the direction indicated by arrow A, the free wheel 13 is in the solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the drawing. The position of the traveling wheel 36 is immovable during the traveling movement in any direction, and the free wheel 13 is adapted to the vertical axis 1 when the direction is changed.
It turns around 5 and is oriented according to the traveling direction.

Since the traveling wheels 36 are fixed in the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheel 36 is positioned in the orthogonal direction indicated by the alternate long and two short dashes line with respect to the traveling direction as required, the grounding point of the traveling wheel 36 on both sides of the vertical axis 37 will be outside. Therefore, the posture becomes stable and it is difficult to tilt.

Making the direction of the traveling wheels 36 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 36 according to the moving direction.

If the driving sheave or pulley 39 has a smaller diameter than the sheave or pulley 41 of the traveling wheel 36, the turning force of the handle 42 can be reduced and the operability is improved. Further, the rope 38 can be selectively applied from a metallic rope such as a steel rope or a synthetic resin or other fiber material having a small elongation.

When changing the direction of the traveling wheels 36, the apparatus main body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. FIG. 7 is a fourth embodiment showing the traveling device 45 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of running wheels 46, 46 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The free wheels 13 are rotatable about their respective vertical shafts 15 and are oriented to positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction.

The traveling wheels 46 are parallel to the traveling direction indicated by the solid line about each vertical axis 47,
Two positions, that is, a direction indicated by a two-dot chain line which is a direction orthogonal to the traveling direction, are interlocked by a chain member composed of a chain 48 as interlocking means and a sprocket, which will be described later, and their respective positions The position can be fixed at.

Since the running wheels 46 are connected and restrained by the chain 48, they are rotated by a quarter turn with respect to the vertical shaft 47, that is, rotated 90 ° to the outer position shown by the chain double-dashed line. It has become so.

The traveling wheels 46 are provided with sprockets 49 of the same diameter, on which the chains 48 are hung, so that they can rotate integrally. A drive sprocket 51 is arranged in the middle, and can be rotated by a handle 52 provided on the upper portion of the apparatus main body 12. The chain 48 is stretched between a sprocket 49 of both traveling wheels 46 and an intermediate driving sprocket 51.

The chaining method of the chain 48 will be described with reference to FIG. 8. One chain of endlessly connected chains 48 is divided into a drive sprocket 51 and a sprocket 49 of the traveling wheel 46 on the left side in the drawing. The sprocket 51 for driving and the sprocket 49 of the traveling wheel 46 on the right side in the drawing are laid in the opposite direction so as to be rotated in the same direction.

The chain 48 is required to be stretched in an appropriate tension state, but a tension adjusting roller or sprocket 53 that can be moved in the radial direction and fixed at an arbitrary position is provided as shown in the chain 48. It is preferable to arrange it in contact with.

With the above structure, when the handlebar 52 is rotated in the clockwise arrow direction, the traveling wheel 46 on the left side in the figure is rotated clockwise around the vertical shaft 47, and the traveling wheel 46 on the right side in the figure is rotated. The traveling wheel 46 is rotated counterclockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the chain double-dashed line to stop the positioning.
The position of the traveling wheel 46 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally.

When the handle 52 is disengaged from the locking means and rotated in the counterclockwise arrow direction, the traveling wheel 46 on the left side in the drawing is rotated counterclockwise around the vertical shaft 47, The traveling wheel 46 on the right side in the drawing is rotated clockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the solid line to stop the positioning.
The position of the traveling wheel 46 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally. As described above, the position of the traveling wheel 46 can be positioned and fixed at both positions.

As shown in FIG. 7, the traveling device 45 is capable of traveling in a direction indicated by an arrow A and a direction indicated by an arrow B with the traveling wheel 46 as a solid line position. When traveling in the direction indicated by arrow A, the free wheel 13 is in the solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the drawing. The position of the traveling wheel 46 is immovable during traveling in either direction, and the swivel wheel 13 is adapted to the vertical axis 1 when the direction is changed.
5 around the adjustment, oriented according to the direction of travel.

Since the traveling wheels 46 are fixed with respect to the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 46 are positioned in the orthogonal direction indicated by the alternate long and two short dashes line with respect to the traveling direction as required, the ground contact points of the traveling wheels 46 on the floor surface will be outside the vertical axis 47. Therefore, the posture becomes stable and it is difficult to tilt.

Making the direction of the traveling wheels 46 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 46 according to the moving direction.

To make the driving sprocket 49 smaller in diameter than the sprocket 51 of the traveling wheel 46, the handle 5
Since the turning power of 2 can be performed in a small amount, the operability becomes good.

The chain 48 may be a general roller chain or the like, but other types are also applicable. In any case, it is necessary that the chain 48 can be displaced in a direction orthogonal to the moving direction. The reason for this is that the driving sprocket 51 is of a two-stage type adjacent to each other so that it does not come into contact with each other at the crossing portion, and the opposite chains 48 are respectively engaged with different sides of the sprocket 51 so as to be separated at the crossing portion of the crossing portion. Contact with each other to prevent interference. For this purpose it is necessary to be able to laterally shift.

When the direction of the traveling wheels 46 is changed, the apparatus body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. FIG. 9 is a fifth embodiment showing the traveling device 55 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of running wheels 56, 56 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The free wheels 13 are rotatable about their respective vertical axes 15 and are directed to positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction.

The running wheels 56 are parallel to the running direction indicated by the solid line about each vertical axis 57,
A belt member made up of a belt 58 as an interlocking device and a pulley to be described later is interlocked at two positions, that is, a direction indicated by a two-dot chain line which is a direction orthogonal to the traveling direction, and the position is set at each position. It can be fixed.

Since the running wheels 56 are connected and restrained by the belt 58, each of the running wheels 56 is rotated one quarter turn with respect to the vertical shaft 57, that is, rotated 90 ° outward and rotated to the outer position indicated by the chain double-dashed line. It has become so.

Each of the running wheels 56 is provided with a pulley 59 of the same diameter for hanging the belt 58 on the running wheels 56, so that the running wheels 56 can rotate integrally. A drive pulley 61 is arranged in the middle, and a handle 62 provided on the upper portion of the apparatus main body 12 is provided.
It can be rotated by. The belt 58 is stretched between pulleys 59 of both traveling wheels 56 and an intermediate driving pulley 61.

Explaining the method of straddling the belt 58, one of the two belts 58 is rotated in the same direction between the driving pulley 61 and the pulley 59 of the traveling wheel 56 on the left side in the drawing. And the other belt 58 so as to be rotated in the opposite direction between the driving pulley 61 and the pulley 59 of the traveling wheel 56 on the right side in the drawing.

When the diameter of the driving pulley 61 is set to be approximately the same as the diameter of the pulley 59 of the traveling wheel 56, a portion where the belt 58 does not separate from the pulleys 61 and 59 within the rotation range of the traveling wheel 56 is obtained. Since this belt portion is screwed into the pulleys 61 and 59, the pulley 6 is
Press down on 1,59 to fix.

If the both ends of the belt 58 are utilized by utilizing the portions to be pressed and fixed, the ends of the belt 58 can be properly cleaned without connecting the belt 58 in an endless state. The belt 58 needs to be stretched in an appropriate tension state, but such a thing becomes easy, and the belt 58 will be used later.
It is also possible to correct the growth of.

By fixing the belt 58 to the pulleys 61 and 59, the two traveling wheels 56 are surely interlocked with each other without any positional deviation, and a state not dependent on frictional conduction can be obtained.

With the above structure, when the handle 62 is rotated in the clockwise arrow direction, the traveling wheel 56 on the left side in the figure is rotated clockwise around the vertical shaft 57, and the traveling wheel 56 on the right side in the figure is rotated. The traveling wheel 56 is rotated counterclockwise and comes into contact with a positioning stopper (not shown) at the position indicated by the chain double-dashed line to stop the positioning.
The position of the traveling wheel 56 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally.

When the handle 62 is disengaged from the locking means and rotated in the counterclockwise arrow direction, the traveling wheel 56 on the left side in the drawing is rotated counterclockwise around the vertical shaft 57, The traveling wheel 56 on the right side in the drawing is rotated clockwise and comes into contact with a positioning stopper (not shown) at the position shown by the solid line to stop the positioning.
The position of the traveling wheel 56 is maintained in a fixed state by engaging with a locking means (not shown) so that the 2 does not rotate naturally. As described above, the traveling wheels 56 can be positioned and fixed at both positions.

As shown in FIG. 9, the traveling device 55 is capable of traveling in the directions indicated by the arrow A and the arrow B with the traveling wheels 56 as the solid line positions. When traveling in the direction indicated by arrow A, the free wheel 13 is in the solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the drawing. The position of the traveling wheel 56 is immovable during traveling movement in any direction, and the free wheel 13 is moved by the vertical shaft 1 when the direction is changed.
It turns around 5 and is oriented according to the traveling direction.

Since the traveling wheels 56 are fixed in the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 56 are positioned in the orthogonal direction indicated by the alternate long and two short dashes line with respect to the traveling direction as required, the grounding points of the traveling wheels 56 on both sides of the vertical axis 57 will be outside. Therefore, the posture becomes stable and it is difficult to tilt.

Making the direction of the traveling wheels 56 orthogonal to the traveling direction is nothing but the stop state,
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 56 according to the moving direction.

To make the driving pulley 59 as small as possible than the pulley 61 of the traveling wheel 56, the handle 6
Since the turning power of 2 can be performed in a small state, the operability is good, but the above-mentioned conditions, that is,
It is important to secure a portion where the belt 58 does not separate from the pulleys 59 and 61.

The belt 58 can be selected from metallic ones, synthetic resin ones containing various fibers, and rubber ones, but it is a flat belt or other belts, or a tooth with no slippage. A combination of a belt (timing belt) and a toothed pulley can also be applied. In the case of a toothed belt, set so that the distance between pulleys can be adjusted.

When changing the direction of the traveling wheels 56, the apparatus main body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. 10 and 11 show a sixth embodiment of the traveling device 65 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of running wheels 66, 66 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The swivel wheels 13 are rotatable about their respective vertical shafts 15, and as shown in FIG. 10, are located at positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction. It is directed.

The running wheels 66 have two axes, each of which is parallel to the running direction shown in FIG. 10 with respect to each vertical axis 67 and the direction shown in FIG. 11 which is a direction orthogonal to the running direction. The position can be fixed at each position by being linked with the position of the place by a link mechanism 68 composed of a link member as an interlocking device.

Since the running wheels 66 are connected and restrained by the link mechanism 68, they are rotated by a quarter rotation with respect to the vertical axis 67, that is, they are rotated 90 ° outward, and the outer side shown in the position of FIG. 10 and shown in FIG. It is designed to be rotated into and out of position.

Arms 69 are provided at symmetrical positions on the pair of traveling wheels 66, respectively. On the apparatus body 12 side, a T-shaped actuating member 71 is supported by two bearings 72 so as to be slidable in the longitudinal direction. The T-shaped ends of the actuating member 71 and the tip of the arm 69 are rotatably connected at both ends of the connecting member 73.

In the state of FIG. 10, the operating member 71 is the apparatus main body 1
2 is pulled out in the direction of arrow E, the locking pin 74 penetrating the apparatus main body 12 is engaged and positioned, and the pair of traveling wheels 66, 66 are parallel to the traveling direction. There is.

With the above-described structure, when the locking pin 74 is pulled out and the operating member 71 is pushed in the direction of the arrow F with respect to the apparatus main body 12 as shown in FIG. 66 is rotated clockwise around a vertical shaft 67, and the running wheel 66 on the right side in the figure is rotated counterclockwise, and a positioning stopper (not shown) is provided at a position shown in the drawing, that is, a perpendicular position different from the running direction. Since the positioning is stopped by contacting with, the position of the traveling wheel 66 is maintained in a fixed state by engaging the locking pin 74 penetrating the device main body 12 with the other hole of the operating member 71 to fix the position. It

The engaging pin 74 is pulled out to release the engagement between the apparatus main body 12 and the operating member 71, and the operating member 71 is moved to the position shown in FIG.
When it is pulled out in the direction of arrow E as shown in FIG. 5, the traveling wheel 66 on the left side in the drawing is rotated counterclockwise around the vertical shaft 67,
The running wheel 66 on the right side in the drawing is rotated clockwise and comes into contact with an unillustrated positioning stopper at the position shown in FIG. 10 to stop the positioning. Therefore, the locking pin 74 is inserted and engaged to run the running wheel 66. Keep the position of fixed.
As described above, the position of the traveling wheel 66 can be positioned and fixed at both positions.

As shown in FIG. 10, the traveling device 65 is capable of traveling with the traveling wheels 66, 66 in parallel positions in the directions indicated by the arrow A and the arrow B. When traveling in the direction indicated by arrow A, the position of the universal wheel 13 is a solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the figure. When traveling in any direction, the traveling wheels 6
The position of 6 is fixed, and the wheel 1 is free to change the direction.
3 turns around the vertical axis 15 and is oriented according to the direction of travel.

Since the traveling wheels 66 are fixed with respect to the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 66 are positioned in the orthogonal direction as shown in FIG. 11, which is different from the traveling direction shown in FIG. 10, if necessary, the grounding point of the traveling wheels 66 on the floor surface is more than the position of the vertical axis 67. Since it is on both outer sides, it has a stable posture and is less likely to tilt.

Making the direction of the traveling wheel 66 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 66 according to the moving direction.

By setting the connecting position relationship between the operating member 71 and the arm 69 of the traveling wheel 66 to the state shown in the figure, smooth movement can be performed for direction control, and favorable movement can be obtained.

When the direction of the traveling wheels 66 is changed, the apparatus main body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. 12 and 13 show a seventh embodiment of the traveling device 75 of the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of traveling wheels 76, 76 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The swivel wheels 13 are rotatable about their respective vertical shafts 15, and as shown in FIG. 12, are located at positions in arbitrary directions within a circle indicated by a chain double-dashed line depending on the traveling direction. It is directed.

The running wheels 76 have a vertical axis 77 as a center and are parallel to the running direction shown in FIG. 12 and a direction shown in FIG. 13 which is a direction orthogonal to the running direction. The position can be fixed at each position by being linked with the position of the place by a link mechanism 78 constituted by a link member as an interlocking device.

Since the running wheels 76 are connected and restrained by the link mechanism 78, they are rotated by a quarter rotation with respect to the vertical shaft 77, that is, they are rotated 90 ° outward, and the outer side shown in the position of FIG. 12 and shown in FIG. It is designed to be rotated into and out of position.

Arms 79 are provided at symmetrical positions on the pair of traveling wheels 76, respectively. On the apparatus body 12 side, a rod-shaped actuating member 81 is supported by two bearings 82 so as to be slidable in the longitudinal direction. Actuating member 81
A pair of tilting members 84, which are rotatably supported by shafts 83 in the middle, are also provided at symmetrical positions on both left and right sides.

One end side of the tilting member 84 near the actuating member 81 is slidably axially fitted into a long hole 85 formed in the lateral direction of the tip end of the actuating member 81, and the other end side of the far end and the arm 79. The tip end of the connecting member 86 is rotatably connected at both ends of the connecting member 86.

In the state of FIG. 12, the actuating member 81 is the apparatus main body 1
In the state of being pushed in the direction of arrow F with respect to 2, the locking pin 87 penetrating the apparatus main body 12 is engaged and positioned, and the pair of traveling wheels 76, 76 are parallel to the traveling direction. Has been done. With the above-described structure, when the locking pin 87 is pulled out and the actuating member 81 is pulled out in the direction of arrow E from the apparatus main body 12 as shown in FIG. 13, the traveling wheel 76 on the left side of the drawing shows the vertical shaft 77. Is rotated clockwise, the traveling wheel 76 on the right side in the figure is rotated counterclockwise, and the positioning is stopped by contacting a positioning stopper (not shown) at a position shown in the drawing, that is, a position orthogonal to the traveling direction. Therefore, the position of the traveling wheel 76 is maintained in a fixed state by engaging the locking pin 87 penetrating the apparatus main body 12 with the other hole of the actuating member 81 and fixing the position thereof.

The engaging pin 87 is pulled out to release the engagement between the apparatus main body 12 and the operating member 81, and the operating member 81 is moved to the position shown in FIG.
When pushed in the direction of the arrow F as shown in Fig. 1, the traveling wheel 76 on the left side in the figure is rotated counterclockwise around the vertical shaft 77, and the traveling wheel 76 on the right side in the figure is rotated clockwise, as shown in FIG.
At the position shown in FIG. 2, the positioning is stopped by coming into contact with a positioning stopper (not shown) so that the locking pin 87 is inserted and engaged to maintain the position of the traveling wheel 76 in a fixed state. As described above, the position of the traveling wheel 76 can be positioned and fixed at both positions.

As shown in FIG. 12, the traveling device 75 is capable of traveling with the traveling wheels 76, 76 in parallel positions in the directions indicated by the arrow A and the arrow B. When traveling in the direction indicated by arrow A, the position of the universal wheel 13 is a solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the figure. When traveling in either direction, the traveling wheels 7
The position of 6 is fixed, and the wheel 1 is free to change the direction.
3 turns around the vertical axis 15 and is oriented according to the direction of travel.

Since the traveling wheels 76 are fixed with respect to the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 76 are positioned in an orthogonal direction as shown in FIG. 13, which is different from the traveling direction shown in FIG. 12, if necessary, the grounding point of the traveling wheels 76 on the floor surface is the vertical axis 77.
Since it is located on both outer sides of the position of, the posture becomes stable and it is difficult to tilt.

Making the direction of the traveling wheel 76 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 76 according to the moving direction.

As the actuating member 81 slides, the tilting member 84 is tilted about the shaft 83 in the states shown in FIGS. 11 and 12, but the tilting member 84 closer to the actuating member 81 side. Since the end portion is axially fitted in the long hole 85, the ends move in the long hole 85 so as to approach and separate from each other. The distal end side is smoothly moved smoothly by the rotation link action of the connecting member 86.

By setting the connection position relationship between the tilting member 84 and the arm 79 of the traveling wheel 76 to the state shown in the figure, smooth movement can be performed for direction control, and favorable movement can be obtained.

When the direction of the traveling wheels 76 is changed, the apparatus main body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. 14 and 15 show an eighth embodiment of the traveling device 95 of the present invention as seen from the bottom side. A pair of free wheels 13, 13 and a pair of traveling wheels 96, 96 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The swivel wheels 13 are rotatable about their respective vertical shafts 15, and as shown in FIG. 14, are located at positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction. It is directed.

The traveling wheels 96 have two axes, each of which is parallel to the traveling direction shown in FIG. 14 with respect to each vertical axis 97 and a direction shown in FIG. 15 which is a direction orthogonal to the traveling direction. The position can be fixed at each position by being linked with the position of the place by a link mechanism 98 composed of a link member as an interlocking device.

Since the traveling wheels 96 are connected and restrained by the link mechanism 98, they are rotated by a quarter rotation with respect to the vertical axis 97, that is, they are rotated by 90 °, respectively, and the positions shown in FIG. 14 and the outside shown in FIG. It is designed to be rotated into and out of position.

The pair of running wheels 96 are provided with arms 99 at symmetrical positions. A T-shaped actuating member 101 is provided on the apparatus main body 12 side by two bearings 102,
It is supported so as to be slidable in the longitudinal direction. Long holes 103 for slide guides are formed laterally on both sides of the T-shaped tip of the operating member 101. In the middle of the pair of running wheels 96, 96, a pair of deformable tilting members 105 rotatably supported by a shaft 104 in the left and right are also provided at symmetrical positions.

Actuating member 10 of the pair of deformable tilting members 105
The end portion 106 on the first side is axially fitted in the long hole 103 for the slide guide, and is located on the far end side of the pair of long holes 103 in FIG. 14 and on the near end side in FIG. .

The end portions 107 of the pair of deformable tilting members 105 on the traveling wheel 96 side are axially fitted in the elongated holes 108 for slide guides formed in the radial direction of the arm 99 of the traveling wheel 96, as shown in FIG. Further, in the state of FIG. 15, both are located on the far end side of the vertical axis 97 of the elongated hole 108.

As is apparent from the figure, the pair of deformable tilting members 105 are formed in a deformed shape, and the shaft 104
It will be easily understood that the both sides are formed so as to have an appropriate step difference in height in the portion of FIG. 14 and that the link members are prevented from interfering with each other in the state of FIG. Therefore, detailed description will be omitted.

In the state of FIG. 14, the operating member 101 is pushed into the apparatus main body 12 in the direction of arrow F,
The locking pin 109 penetrating the apparatus main body 12 is engaged and positioned, and the pair of running wheels 96, 96 are parallel to the running direction.

With the above-described structure, when the locking pin 109 is pulled out and the actuating member 101 is pulled out from the apparatus body 12 in the direction of arrow E, as shown in FIG. It rotates clockwise around the vertical shaft 97, and the traveling wheel 96 on the right side in the figure rotates counterclockwise, and comes into contact with a positioning stopper (not shown) at a position shown in the figure, that is, at a different orthogonal position to the traveling direction for positioning. Since it is stopped, the position of the running wheel 96 is maintained in a fixed state by engaging the locking pin 109 penetrating the apparatus main body 12 with the other hole of the operation member 101 to fix the position.

The locking pin 109 is pulled out to pull out the apparatus main body 12
14 is released and the operating member 101 is pushed in the direction of arrow F as shown in FIG. 14, the traveling wheel 96 on the left side of the drawing is rotated counterclockwise around the vertical shaft 97. The traveling wheel 96 on the right side in the drawing is rotated clockwise and comes into contact with a positioning stopper (not shown) at the position shown in FIG. 14 to stop the positioning. Keep it fixed. As described above, the position of the traveling wheel 96 can be positioned and fixed at both positions.

As shown in FIG. 14, the traveling device 95 is capable of traveling with the traveling wheels 96, 96 in parallel positions in the directions indicated by the arrow A and the arrow B. When traveling in the direction indicated by arrow A, the position of the universal wheel 13 is a solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the figure. When traveling in either direction, the traveling wheels 9
The position of 6 is fixed, and the wheel 1 is free to change the direction.
3 turns around the vertical axis 15 and is oriented according to the direction of travel.

Since the traveling wheel 96 is fixed in the traveling direction, a stable traveling posture is obtained and the vehicle does not meander. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 96 are positioned in a direction orthogonal to the traveling direction shown in FIG. 14, if necessary, the traveling wheels 9
Since the grounding point of 6 on the floor surface is located on both outsides of the position of the vertical axis 97, the posture is stable and it is difficult to tilt.

Making the direction of the traveling wheels 96 orthogonal to the traveling direction is nothing but the stop state.
This is a state in which the vehicle cannot be moved in the direction of arrow A or B. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction. In this case, the free wheel 13 is pivotally moved to any position parallel to the traveling wheel 96 according to the moving direction.

As the actuating member 101 slides, the deformable tilting member 105 moves around the shaft 104 as shown in FIG.
Further, the end portion 106 of the deformation tilting member 105 on the actuating member 101 side is tilted to the state of FIG.
Since it is axially fitted to 03, it slides between the far end side and the near end side in the elongated hole 103.

The shaft 107 between the end portion 107 of the deformable tilting member 105 and the arm 99 of the traveling wheel 96 is fitted in the elongated hole 10 of the arm 99.
The slide guides in 8 smoothly and reliably rotate the traveling wheels 96.

By setting the connecting positional relationship between the deformable tilting member 105 and the arm 99 of the traveling wheel 96 in the state shown in the figure, smooth movement can be performed for direction control, and suitable movement can be obtained. As described above, the sliding link action and the pivoting link action allow smooth and smooth movement.

When changing the direction of the traveling wheels 96, the apparatus main body 1
It is possible to easily perform the changing operation by appropriately moving the item 2 in the A direction or the B direction. 16 and 17 show a ninth embodiment of the traveling device 115 according to the present invention as viewed from the bottom side. A pair of free wheels 13, 13 and a pair of traveling wheels 116, 116 that can be positioned at two positions are attached to both ends of the bottom surface of the apparatus body 12.

The swivel wheels 13 are rotatable about their respective vertical shafts 15, and as shown in FIG. 16, are located at positions in arbitrary directions within a circle indicated by a chain double-dashed line in accordance with the traveling direction. It is directed.

The running wheels 116 are parallel to the running direction shown in FIG. 16 and are orthogonal to the running direction with respect to each vertical axis 117.
The position shown in (1) and the position shown in (2) are interlocked by a link mechanism 118 composed of a link member as interlocking means, and the position can be fixed at each position.

Since the traveling wheels 116 are connected and restrained by the link mechanism 118, they are rotated by a quarter rotation with respect to the vertical axis 117, that is, they are rotated 90 °, respectively, and the positions shown in FIG. 16 and the outside shown in FIG. It is designed to be rotated into and out of position.

Arms 119 are provided on the pair of running wheels 116 at symmetrical positions. On the apparatus body 12 side, a rod-shaped actuating member 121 is supported by two bearings 122 so as to be slidable in the longitudinal direction. A slide shaft 123 for a slide guide is provided at the tip of the operating member 121 so as to extend in both lateral directions.

In the middle of the pair of running wheels 116, 116, a pair of deformable tilting members 125, which are supported by the shaft 124 so as to be tiltable between the left and right, are also provided at symmetrical positions. The shaft 126 of the pair of deformable tilting members 125 on the actuating member 121 side is rotatably fitted to one end 128 of the slide member 127 fitted to the slide shaft 123, which is located below the drawing.

The traveling wheels 116 of the pair of deformable tilting members 125.
The end portion 129 on the side is axially fitted in a long hole 131 for a slide guide formed in a radial direction of the arm 119 of the traveling wheel 116. In the state of FIGS. It is located on the far end side with respect to the vertical axis 117.

As is apparent from the figure, the pair of deformable tilting members 125 are formed in a deformed shape, and the shaft 124
It should be easily understood that both sides of the portion are formed to have an appropriate step difference of height difference so that the link members are prevented from interfering with each other during the state of FIG. 16 and the tilt movement. Therefore, detailed description will be omitted also in the present embodiment.

On both sides of the upper end 135 of the pair of slide members 127, both ends of the expandable gas spring 136, that is, the end of the cylinder 137 and the end of the rod 138 are connected between them. Has been done.

The gas spring 136 has a structure in which the volume of the compressible gas body filled in the cylinder 137 is
Further, the rod 138 is elastically pushed out by being further compressed and stored with the insertion of the rod 8.

Therefore, the state normally shown in FIG. 16 is in the extended state, but the state shown in FIG. 17 is used to set the further compression position. In such a case, the slide member 127 attached to the slide shaft 123 allows smooth expansion and contraction.

FIG. 18 shows only the essential parts in order to better show the expansion and contraction movement state of these gas springs 136. The expanded state is shown in FIG. 18A and the contracted state is shown in FIG. The states are shown in each.

The state of FIG. 16 is a state in which the operating member 121 is pushed into the apparatus main body 12 in the direction of arrow F,
A locking pin 139 penetrating the apparatus main body 12 is engaged and positioned, and the pair of traveling wheels 116, 116 are parallel to the traveling direction.

With the above-mentioned structure, when the locking pin 139 is pulled out and the actuating member 121 is pulled out in the direction of the arrow E from the apparatus main body 12 as shown in FIG. It rotates clockwise around the vertical shaft 117, and the traveling wheel 116 on the right side in the figure rotates counterclockwise to position it by contacting a positioning stopper (not shown) at a position shown in the drawing, that is, at a perpendicular position different from the running direction. Since the vehicle is stopped, the position of the traveling wheel 116 is maintained in a fixed state by engaging the locking pin 139 penetrating the device body 12 with the other hole of the actuating member 121 to fix the position.

The locking pin 139 is pulled out to pull out the apparatus main body 12
When the operating member 121 is pushed in the direction of arrow F as shown in FIG. 16, the traveling wheel 116 on the left side in the drawing is rotated counterclockwise around the vertical shaft 117, The traveling wheel 116 on the right side in the drawing is rotated clockwise and comes into contact with a positioning stopper (not shown) at the position shown in FIG.
39 is inserted and engaged to maintain the position of the traveling wheel 116 in a fixed state. As described above, the position of the traveling wheel 116 can be positioned and fixed at both positions.

As shown in FIG. 16, the traveling device 115 is capable of traveling in the directions indicated by the arrow A and the arrow B with the traveling wheels 116, 116 in parallel positions. When traveling in the direction indicated by arrow A, the position of the universal wheel 13 is a solid line position, and during traveling in the direction indicated by arrow B, the universal wheel 13 is in the upper position in the figure. The position of the traveling wheel 116 is immovable during traveling in any direction, and the swivel wheel 13 turns around the vertical axis 15 and is directed according to the traveling direction when the direction is changed.

Since the traveling wheels 116 are fixed with respect to the traveling direction, a stable traveling posture is obtained and there is no meandering. Even if the traveling direction is changed to turn, smooth movement can be obtained in any direction without moving diagonally.

If the traveling wheels 116 are positioned in an orthogonal direction as shown in FIG. 17, which is different from the traveling direction shown in FIG. 16, if necessary, the contact point of the traveling wheels 116 with the floor surface is the vertical axis 1.
Since it is on the both outer sides of the position of 17, the posture is stable and it is difficult to tilt.

Making the direction of the traveling wheel 116 orthogonal to the traveling direction is nothing but the stop state, and is a state in which traveling traveling in the direction of arrow A or B is impossible. The device can be laterally moved in the direction of arrow C or D by pushing the device from the lateral direction.
In this case, the free wheel 13 is driven by the traveling wheel 11 according to the moving direction.
6 is pivotally moved to any position parallel to 6.

As the actuating member 121 slides, the deformable tilting member 125 moves around the shaft 126 as shown in FIG.
17, the shaft 126 of the deformable tilting member 125 on the actuating member 121 side moves the slide member 127 along the slide shaft 123 toward and away from the slide member 127.

The approach of the slide member 127 causes the gas spring 136 to be compressed and stored, and the extension force of the gas spring 136 urges the slide member 127 in the separating direction. Therefore, the gas spring 1
When the compression member 36 is compressed, a force for compression is required to pull out the operating member 121, and when the gas spring 136 is extended, a force that pushes the operating member 121 is not necessary. As shown in FIG. It becomes a straight line in the lateral direction and is stopped in a stable state.

The end portion 129 of the deformable tilting member 125 and the arm 119 of the traveling wheel 116 are axially coupled to each other by the slide guide in the elongated hole 131 of the arm 119 so that the traveling wheel 116 can be smoothly and reliably rotated.

By setting the connecting positional relationship between the deformable tilting member 125 and the arm 119 of the traveling wheel 116 as shown in the figure, smooth movement can be performed for direction control, and suitable movement can be obtained. As described above, the sliding link action and the pivoting link action allow smooth and smooth movement.

In this embodiment, the gas spring is used as the energy storage means, but the invention is not limited to this.
For example, a compression coil spring can be used. However, using a tension coil spring
Since the action directions are opposite, it is of course possible to carry out the application without any problem.

Such energy storage means can be appropriately applied to each of the sixth, seventh and eighth embodiments of the present invention, and the operation and effect of the applied application are the same.

[0158]

As described above in detail, according to the traveling apparatus having the traveling wheel direction control means of the present invention, one of the traveling wheels having the pair of front and rear traveling wheels is a free wheel. In addition, by providing interlocking means that can position and control the other pair of running wheels in the parallel and orthogonal directions with respect to the running direction, it is possible to run in a stable posture with the direction parallel to the running direction during normal running. If necessary, the stable posture can be stopped in the direction orthogonal to the traveling direction or the transverse movement can be performed in the direction orthogonal to the traveling direction.

The direction in which the traveling wheels are positioned orthogonally to the traveling direction is stable because a very stable posture can be obtained by positioning the traveling wheels so that the wheels are oriented outward from the vertical axis. The posture can be stopped or can be moved laterally.

The effect of implementation is effective when applied to a medical device, for example, a device having a height higher than the floor area such as an ultrasonic diagnostic device and having a relatively high center of gravity. The practical effect is extremely remarkable, as it is easy to move in a small room in each direction.

[Brief description of drawings]

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

FIG. 2 is a running state posture of the first embodiment.

FIG. 3 is a stopped state or a transverse posture according to the first embodiment.

FIG. 4 is a second embodiment of the present invention.

FIG. 5: Third embodiment of the present invention

FIG. 6 is a method for laying the rope in FIG.

FIG. 7 is a fourth embodiment of the present invention.

FIG. 8 is a chaining method in FIG.

FIG. 9 is a fifth embodiment of the present invention.

FIG. 10 is a sixth embodiment (1) of the present invention.

FIG. 11 is a sixth embodiment (2) of the present invention.

FIG. 12 is a seventh embodiment (1) of the present invention.

FIG. 13 is a seventh embodiment (2) of the present invention.

FIG. 14 is an eighth embodiment (1) of the present invention.

FIG. 15 is an eighth embodiment (2) of the present invention.

FIG. 16 is a ninth embodiment (No. 1) of the present invention.

FIG. 17 is a ninth embodiment (No. 2) of the present invention.

FIG. 18 is an enlarged view of the essential parts of the ninth embodiment of the present invention.

FIG. 19 is an external view of a medical device

20 is a problem of the device shown in FIG.

[Explanation of symbols]

 1 Ultrasonic Diagnostic Device 2 Device Main Body 3, 4 Free Wheel 5 Moving Device 6 Vertical Axis 11 Traveling Device 12 Device Main Body 13 Universal Wheel 14 Running Wheel 15, 16 Vertical Axis 17 Interlocking Member 18, 19 Arm 25 Running Device 26 Running Wheel 27 Vertical shaft 28 Gear train 29 Driven gear 31 Drive gear 32 Handle 33, 34-1, 34-2 Intermediate gear 35 Traveling device 36 Traveling wheel 37 Vertical shaft 38 Rope 39 Sheave or pulley 41 Drive sheave or pulley 42 Handle 45 Travel Device 46 Travel Wheel 47 Vertical Axis 48 Chain 49 Sprocket 51 Drive Sprocket 52 Handle 53 Tension Adjusting Roller or Sprocket 55 Travel Device 56 Travel Wheel 57 Vertical Axis 58 Belt 59 Pulley 61 Drive Pulley 62 Handle 65 Travel Device 66 Running wheel 67 Vertical axis 68 Link mechanism 69 Arm 71 Actuating member 72 Bearing 73 Connecting member 74 Locking pin 75 Traveling device 76 Traveling wheel 77 Vertical axis 78 Link mechanism 79 Arm 81 Actuating member 82 Bearing 83 Shaft 84 Tilt member 85 Long hole 86 Connecting member 87 Locking pin 95 Traveling device 96 Traveling wheel 97 Vertical shaft 98 Link mechanism 99 Arm 101 Actuating member 102 Bearing 103 Long hole 104 Shaft 105 Deformation tilting member 106, 107 End 108 Long hole 109 Locking pin 115 Traveling device 116 Traveling wheel 117 Vertical shaft 118 Link mechanism 119 Arm 121 Actuating member 122 Bearing 123 Slide shaft 124 Shaft 125 Deformation tilting member 126 Shaft 127 Slide member 128,129 End 131 Long hole 135 One end 136 Gas spring 137 Cylinder 1 8 rod 139 locking pin

Claims (8)

[Claims] 1. A traveling device having a pair of front and rear traveling wheels, wherein one of the pair of traveling wheels is a free wheel and the other pair of traveling wheels is orthogonal to a direction parallel to the traveling direction. A traveling device having traveling wheel direction control means, characterized in that it is provided with interlocking means for positionally controlling the direction. 2. The direction of the running wheel according to claim 1, wherein the wheel is positioned in a direction orthogonal to the running direction of the running wheel, and the wheel is positioned outside the vertical axis. A traveling device equipped with control means. 3. A traveling apparatus having traveling wheel direction control means according to claim 1, wherein the interlocking means is a gear train. 4. The traveling apparatus with traveling wheel direction control means according to claim 1, wherein the interlocking means is a rope member. 5. A traveling apparatus having traveling wheel direction control means according to claim 1, wherein the interlocking means is a chain member. 6. The traveling apparatus having a traveling wheel direction control means according to claim 1, wherein the interlocking means is a belt member. 7. The traveling apparatus with traveling wheel direction control means according to claim 1, wherein the interlocking means is a link member. 8. The direction of the running wheel according to claim 7, wherein the interlocking means is provided with an energy storing means for positioning and biasing the running wheel in either the parallel direction or the orthogonal direction. A traveling device equipped with control means.