JPS58502196A - Vehicle with multi-directional maneuverability - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Vehicle with multi-directional maneuverability Technical field The present invention is generally applicable to vehicles having multi-directional maneuverability, and particularly to vehicles that are mounted via a universal joint. , having wheels that can be selectively tilted relative to the ground to select the direction of movement of the vehicle. Regarding vehicles.

Background technology Vehicles such as forklifts are typically mounted on paired front and rear wheels. centre The rear wheels of a forklift are usually steering wheels, which guide the forklift to various work positions.

Forklifts of this type work satisfactorily, but their turning radius and particularly narrow Maneuverability in the aisle is a 7 Oaklift with a kingpin in which the steering wheel is located vertically. limited by the arrangement of the conventional steering axle, which is pivotally connected to the frame of the vehicle.

Multidirectionality can be achieved in this type of vehicle by changing the vehicle's suspension or drive system. An attempt was made to give See, for example, J. H. Wagner, September 12, 1961. U.S. Pat. No. 2,999,554 discloses a method for adjusting the direction of the tread relative to the ground. A tracked vehicle is disclosed for selectively moving the vehicle in different directions. death However, this type of vehicle can be driven either parallel or perpendicular to the longitudinal axis. Positioning relative to the ground or supporting surface is possible only at Verticality is limited. Moreover, the vehicle is relatively slow in its speed and change of direction.

The present invention is directed to overcoming one or more of the problems described above.

Disclosure of invention In one aspect of the invention, a vehicle provides multidirectional maneuverability on a support surface or floor. It will be done. The vehicle includes a frame and a plurality of wheels rotatably attached to the frame. , a drive device for selectively rotating at least one of the wheels. each applicable The wheels are attached to the frame so that they can move freely around the turning point, and can be moved anywhere selectively and freely position each wheel relative to the supporting surface to move the vehicle in a fixed direction. A device is provided for reading the image. Other aspects of the invention include a vehicle drive system, a wheel It includes various small connections of the vehicle, including mounting devices and the like.

Accordingly, an improved vehicle embodying the present invention exhibits flexible maneuverability and thereby The vehicle can be maneuvered quickly within tight areas and exhibits a relatively small turning radius. , it further exhibits a high degree of stability while driving and when stopped for the purpose of performing work.

The above and other aspects will be apparent from the following detailed description of the invention with reference to the accompanying drawings. It becomes clear. However, the drawings are not intended to limit the invention, but are intended to be illustrative. It is for the purpose of

Brief description of the drawing FIG. 1 is a front perspective view of an embodiment of the vehicle of the present invention showing multidirectional maneuverability; Figure 2 is an enlarged side elevation view of the vehicle, and Figure 3 is a front elevational view of the vehicle. can be, Figure 4 schematically shows the arrangement of the various wheels used in the vehicle and the drive mechanism for the wheels. Figure 2 also shows the support arm of the vehicle in two positions! Section along arrow ■-1/ It is a front view, Figure 5 shows the vehicle's drive and wheel support system, and the vehicle's drive and wheel support system along the line ■-■ in Figure 4. FIG. 6 is a partially enlarged cross-sectional view showing the turning mechanism of the front frame member, and FIG. (Is an enlarged sectional view of a part of the vehicle along the arrow ■-■, and Figure 7 shows the wheels of the vehicle. The line ■-■ in Figure 4 shows the drive motor and transmission device used in the vehicle to drive the vehicle. It is a partially enlarged cross-sectional view along Figure 8 shows the mounting and drive system for one of the wheels, similar to that shown in Figure 5. Fig. 9 is a similar view to Fig. 8, but with different mounting and drive equipment. Indicates the location.

BEST MODE FOR CARRYING OUT THE INVENTION Figures 1 to 3 show a load handling device that can be operated on the support surface 1/ and has a working device/unit. A vehicle 10 is illustrated in the form of a vehicle or forklift, and the work equipment is a vehicle. A pair of load handlers mounted on the front of the vehicle and selectively movable for the purpose of lifting and transporting loads. It is shown in the shape of an arm or a lifting fork. The vehicle is partially surrounded by In structure and arrangement with rear frame/q with stand/evening! Same rear frame a frame having a pair of front frame members or support arms/6 movable relative to the frame; It is equipped with a mast assembly 13 and an extendable mast assembly It fitted with a fork. It is growing.

The mast assembly It is equipped with a mass)/q to which an overhead guard is fixed. . The mast assembly includes a pair of spaced apart cooperating fixed and movable mast units. have.

The movable mast has a selection of actuators shown in the shape of the double-acting hydraulic cylinder cylinder 3. move along and guided by the fixed mast in response to selective extension or contraction; . The carriage assembly is attached to the mast assembly and can be moved up on the movable mast. Wear. The carriage assembly includes conventional side members or rollers as known in the art. It has a rectangular frame having a roller bracket 27.

Referring to FIG. 2, the reach mechanism 30 extends the lift fork/2 and moves it backwards. The carriage assembly is attached to the roller. In the illustrated vehicle embodiment, the lead The mechanism is pivotally connected to the carriage at 32 and extends from a pair of double-acting hydraulic cylinders 33. a pair of separate pantographs 31 extendable from the carriage in response to tension; There is. A second frame 3S is provided at 36 at the distal end of each link of the pantograph. It is pivoted and supports the lift fork.

As shown in FIG. 2, the mast assembly 7g is positioned within a predetermined range relative to the rear frame Attach the bin 3'l to the forward extension ll' of the rear frame to tilt it forward within the enclosure. It is pivoted. The vehicle 10 has a pair of tilters for tilting the mast assembly relative to the frame. It further includes a mechanism 3g, each of which has a first link pivotally connected to the driver's cab 15 at a pin q. and a second link Q2 pivotally connected to the mast assembly at a pin lI3. There is. These links connect to a common pivot pin between the cab and mast assembly. They are mutually pinned in III. The double-acting hydraulic cylinder 6 can be extended or retracted. to tilt the mast assembly toward or away from the vehicle in response to contraction. Pivotally connected to the driver's cab at a first end or head end lI7, and a second end or rod thereof The ends are pivoted to the link at a common pivot point.

Referring to FIGS. 4 through 6, the vehicle 10 moves relative to the rear frame/4. Each of the front frame members and support arms is individually pivoted to the rear frame so that It is equipped with a coupling device O. As best seen in Figure 5, each coupling The station has an axle pivoted to the rear frame. The axis is cap yq and The upper and lower sides are respectively pivotably mounted on the rear frame with journal bearings. Look at the bearing part! ;3. Each support arm is actuated by a double-acting hydraulic cylinder 57. The bushings are splined to the shaft so that they rotate together in response to the Ru. The cylinder is pivotally connected to the rear frame at Sg and splined to the shaft. S? pivoted at Ru. The tag link 63 is connected to the second arm A of the lever 61 and the second shaft St (Fig. 6). u, bt between the second lever 6 fixed to the bush 6g connected by pline connection. are pivotably connected at.

Referring to FIGS. 2-5 and 8, the wheel support and drive system 70 includes: To provide a vehicle 10 with multi-directional maneuverability on a supporting surface or floor. The system is Each frame assembly 13 has a A plurality of wheels 7, each of which is individually mounted, supports and drives the chestnut. Figure 4 shows As shown formally, the vehicle consists of a pair of laterally spaced parts attached to the rear frame/9. rear wheels 7Δ and a pair of laterally spaced wheels, each mounted on a respective front frame/A. It has 7 front wheels.

Referring to FIG. 8, one wheel shoe and its mounting device are shown in detail. the car The wheel includes a central wheel member or hub 76 on a plane perpendicular to a solid axis 75 and a hub fixed to the hub. The rim gear is fixed and supports the rubber tire 7g, and the tire is supported and engaged with the rim device. It has a retainer 79 for holding.

The rim 7 has an annular shape fixed to the central wheel member 76 and extending circumferentially around the central wheel member 76. It is in the shape of a frusto-conical ring go.

The ring has a flat upper part or annular flange g/ and an arcuate middle part t2. , rounded the tip gda! The lower lip portion g3 is formed of a curved line. Below The side lip portion faces the axis 7 and extends radially inward, and has a smaller straight lip than the upper portion. It has a diameter.

Retainer 7q conformably engages the upper portion of frustoconical ring gO and is not shown. a flat upper side removably coupled to the upper portion by a plurality of fastener-like devices; It is in the form of an annular ring gt with a section or annular flange 90. arcuate middle part The minute 91 is aligned with the arcuate intermediate portion 12 of the ring tθ, and the open end is aligned with the intermediate portion g2. A torus-shaped tire storage space 9 is formed. The ring has a rounded tip It has an axis 7 and extends radially outward! Lower lip portion q3 consisting of a curve It ends with

Is the tire 7g empty? A rim and a retainer that are removably tightened and cooperate within the 7. A resilient annular tube having a nutaurus-like upper portion 100 is supported on the stem. It is in the shape of ear member 7g. Will the rim and retainer be welded or bolted together? , or alternatively, they may be preferably fixed together. radially inside and outside The flat sides 10/, 102 converge towards each other axially outwardly from the cavity. , slightly unrounded or rounded on a plane parallel to the plane of the central wheel member. It ends at tread 103.

With further reference to FIG. 8, a mounting device 10q is provided to attach the Each wheel is individually mounted to the frame assembly 13 for easy movement. The mounting device is It has a wheel mounting housing 11/ that is fixed to the frame with a mounting plate //2 (Fig. 5). The housing is located inside and has a pivot point /10 for free adjustment of the wheels. Swivel joint limited //,? have. The swivel joint is housed in a housing and Removably retained within the housing by a suitable retainer such as a nap ring. It is equipped with a hemispherical bearing. Compatible spherical ball segment /It, is seated within the socket. The ball segments are located opposite each other. having first and second open ends //7, 11g, the ends having a circle extending between them. It has a cylindrical bore llq.

The swivel joint extends in the direction of arrow X-X in Fig. 8, in the direction perpendicular to the arrow, and between these. an infinite number of directions (e.g., 3 in all directions) Strivenko O that limits the pivoting and rotational movements of the ball segment to within 0°) It also has the following. The stop is a circular recess formed in the ball segment. /2/ and a cooperating pin fixed in a matching socket /I'l and extending into said recess. / Uni.

The generally cylindrical hub S has an open end stepped bore 12A extending therethrough. , press-fitted into the bore/19 or otherwise removably secured. an axle The wheel spindle is rotatably mounted within the bore/JA of the hub.

The spindle is threaded with wheels 72 that are fixed with regular nuts l:lq. It has an end l2g. The spindle is the solid axis of the wheel 7! Concentrically aligned with r and axially spaced bearing assemblies 130, / It is supported within the hub at 31.

The sealing device /3'l is separated in the axial direction supporting the swivel joint /13 and the spindle /27. This is provided to prevent contaminants from entering the bearings 130 and /31.

The sealing device extends circumferentially around the wheel mounting housing /// and the hub/25. a boot or Perot-type seal 13 of resilient material extending therebetween and secured therebetween; are doing. The sealing device includes a flange/39 recess/3g extending outwardly from the hub; A seal formed by an annular rib I'IO formed on the wheel member 76 and extending in the axial direction. End seal assembly I31. located between hub and wheel in receiving cavity /37. further We are prepared.

Referring to FIGS. 5 and 8, the vehicle io moves the vehicle IO in any predetermined direction. An imaginary spherical segment with its center at the pivot point /10) is supported along /32 Wheel adjuster that selectively and infinitely orients each of the wheels 72, 74' with respect to the plane l/ It further includes a joint device/lI9. The positioning device includes each wheel 72.

radially outward from the solid axis 7 of the 7 da, about 90 degrees circumferentially about the axis Double-acting hydraulic cylinder /30, /! A pair of actuators shown in the shape of ;/ Equipped with a tuator.

Each cylinder can be rotated to the wheel mounting housing /// with a swivel ball joint /H' Rotate the housing to be attached to the hub 72S using the ball and socket joint 9. It has an extendable rod rotatably coupled to the tattle.

As will be explained in more detail below, the positioning device is positioned relative to a supporting surface or floor the direction of the vehicle in any given direction, or without changing the direction of the vehicle. To selectively orient the wheels individually or in unison to control the movement of the vehicle. It is possible to act. The positioning device positions all wheels on the same flat surface on the surface Therefore, the flat lower tread 103 of the tire 7g can be When laid flat on a surface, it provides a stable base for lifting and setting loads or for parking. Becomes a department.

Referring to FIGS. 4, 5, and 7, the wheel support and drive system 70 simultaneously a drive system 140 for selectively rotating λ, 71I; a prime mover in the form of a drive motor assembly /6/ having an output shaft /42 and said motor assembly; and a drive train, designated in its entirety by the symbol /43, drivingly coupling the body to the wheels. Ru. The drive motor assembly may optionally include a variable speed transmission (not shown).

As shown more clearly in FIG. 7, the drive train /13 is attached to the drive motor H, /. a set of gears/63 to 63 housed in a housing 16 and drivingly engaged with the motor; It has a speed reducer. The gear set is rotatably mounted in the housing on axes it, t. A bevel defined on the motor output shaft/12 so as to mesh with the ring gear 16 It has a pinion gear 166. Pinion gear/69 is the spindle/73 and shaft Receiving assembly 17≠, /’I! ; a sprocket rotatably supported within the housing; Upper end of the shaft to mesh with the internal tooth ring gear fixed to the socket hub/7) 70. First or main drive sprocket l? Part B has four nothings in Figure 4. Diagrammatically shown in the shape of the end chains tgt, tg yu, #3, igda A flexible drive device of various types is fixed to the hub to rotate together to drive the Ru.

Referring to FIG. 8, the drive train/43 transmits drive torque to wheels 7 and 7. For this purpose, it has a drive sprocket ig5 associated with each vehicle width. This fruit of the invention According to an embodiment, each sprocket extends from a respective one of the wheel mounting housings. are individually fixed to the ends /g& of the extending shaft 1g7. The shaft is a spanner nut) 7Ig It is mounted for rotation within the housing with a conventional bearing/g9.

For the axis l, Oldham joint/90 and hook joint or cardan type universal joint l ql is coupled to the spindle/2 to drive the wheel. The joint is compensates for misalignment, while universal joints position without interfering with power transmission to the wheels Facilitates free adjustment of the wheels by means of the device /'/'9.

In contrast, the universal joint /91 in Fig. 9 is a splice fixed to the end of the shaft lt7. Spherical ball with a button/? - may be provided. The ball has a modified spindle/2 7 and formed in a matching splined bore 191I. Drivingly engages with the pline lug 3. spline/? 3 is a swivel joint//3 and a splice The spindle around the pivot point /10 with a coincident center with the ball 192 and the wheels are preferably dimensioned at their upper ends to allow free movement of the wheels. It can be shaped or beveled into a conical shape.

Next, returning to Figures 4 and 5, the chains tgt and tg are attached to the rear frame/q In order to drive the wheels attached to the It is wrapped around the rocket/g5. Chain/g3, Ig’l is da Bull idle sprocket and additional 200 each chain.

Wheels attached to the front support arm 16 via 20/? Drive 4'. Updated to Figure 5 As clearly shown in the figure, the chain /g'1 connects each arm fixed to the hubco 06. It is wrapped around the sprocket wheel of idle sprocket 9. Che In order to transmit the drive torque to the wheel 7da, the 2 sprocket wheels and sprocket 1g5 associated with each wheel assembly. It can be wrapped around. The hub is rotated on shaft Sl with a suitable bearing assembly 207, 20g. the shaft is rotatably mounted relative to the rear frame in the manner described below. The rear frame /4 (swivels) to allow a predetermined pivoting movement of each front support arm /A. It is attached so that it can be rotated. Therefore, the idle sprocket unit θ is Mounted for rotation about a common vertical axis in a meticulously straight pivot.

Industrial applicability Improved stability during handling and transport (forklift) / (7) have. Moreover, the vehicle is specially designed for driving in narrow areas such as narrow passageways. It has infinite movement performance that makes it useful.

The improved stability of the lift vehicle 10 is due to the novel wheel geometry and mounting. with a low center of gravity and an overhanging strut function provided by the movable front frame member/6. Obtained by combination. For example, in order to pick up and transport loads in sequence, the driver After installing the vehicle adjacent to it, extend the support arm outward to the imaginary line position /4' in Figure 4. Ru. Next, the driver pumps the appropriate amount of cylinder/! ;0, /! Stretch r/ and hold Place the wheels 7 flat on the vehicle's supporting surface to provide a stable base for raising. , 7ri can be placed.

Next, pantograph 7/ (Fig. 1) is placed under the pallet that supports the load. Extended to the front of the vehicle to position the arc. Is the fork the upper part of the support arm? The pantograph is raised with cylinder 3 so as to move away from the frame of the vehicle. rearward in cylinder 33 to position the load between the support arms closely adjacent to assembly/3. be retired. Additionally, if the vehicle is being driven in a narrow passageway, the support arms may pivot inward. The load may then be placed on the support arm during transport. In any driving mode, normal without the need for an additional counterweight fixed to the rear of the vehicle, as is customary in , even relatively heavy loads can be lifted and moved.

Steering control of the vehicle 10 is achieved by wheels 72, 74 that are freely adjustable relative to the supporting surface. ’ is achieved by selectively changing the direction of the Each wheel has associated wheel equipment. A spherical segment /λ with its center at the swivel joint /13 of the mounting housing /// (Figs. 8 and 9) and is infinitely movable. Change the direction of the wheels using the cylinder/! ;0 , /! ; / is done by stretching or contracting one or both.

The cylinder is a control lever mounted on the driver's cab or other suitable steering control. A suitable hydraulic control circuit (not shown) operable in response to movement of the device Pressure activated.

Therefore, the vehicle 10 can move to the support surface I without changing the direction of the vehicle with respect to the support surface /l. It is recognized that it is possible to move in any direction on I. This novel steering device usually It allows the vehicle to move in forward and backward directions, and also allows the vehicle to level off and move quickly. It allows you to perform lateral or diagonal movements. In contrast, the driver has two Either direction of the front wheels, two rear wheels, or both sets of wheels is opposite to the support surface. By appropriately changing the direction, it is possible to perform a 7-turn. Therefore, The vehicle is suitable for narrow aisles and other confined spaces where normal forklifts cannot maneuver. It can be advantageously used for handling and transporting loads in the field.

Other aspects, objects, and advantages of the invention can be learned from a study of the drawings, this disclosure, and the claims. It becomes clear by

Ete =: Yosho

Claims (1)

[Claims] 1. A frame assembly (13) and a rotatably mounted frame assembly (/3). It is equipped with a plurality of wheels (7 wheels), each width (7 wheels) is mounted so that it rotates around a solid axis (7 wheels), and a turning point (Ilo) is provided. surrounding self For proper adjustment, the frame assembly (13) is equipped with each vehicle width (71I). a device (109) for selectively and infinitely adjusting each vehicle width (2.71) around the turning point (Ilo); ) A vehicle (10) comprising a drive device (11,0) that selectively rotates at least one drive device. 4. The vehicle (10) according to claim 1, wherein the mounting device (10y) comprises: a wheel mounting housing (///) fixed to the frame assembly (/3); ) located within the swivel joint (//, ?) and defining the pivot point (Ilo) for the free movement of the wheel, and acting on the swivel joint (//, ?). a spindle (/27) with said wheel (72, 7t I) fixed thereto, said spindle (t2q) being a solid body of said wheel (Kuyu, Kuda); It is aligned concentrically with the axis (ri5), and the rotation around the axis a vehicle (10) rotatably mounted within said hub 0x) for rotation thereof; 3. Vehicle (10) according to claim 2, in which the swivel joint (//, ?) is a hemispherical socket having a spherical ball segment (//A) seated and fitted therein. A vehicle (10) equipped with a kit (lllI). 4. Vehicle (10) according to claim 3, in which the hub (/25) is fixed within the pole segment (//A). 5. The vehicle (10) according to claim 3, wherein the swivel joint (/7.7) is a swivel joint of the pole segment) (//A) in the socket (//f). A vehicle (1O) that has a stop device (/〃) that freely limits movement. 6. The vehicle (10) according to claim 5, wherein the stop device (/:W) includes a recess (/2/) formed in the spherical ball segment (//A), and a recess (/2/) formed in the spherical ball segment (//A). A vehicle (10) having: a pin (2) fixed to (/l*) and extending into the recess (l). 7. In the vehicle Oo) according to claim 2, the mounting device (109) further comprises a sealing device (m) for preventing contaminants from entering the swivel joint (//, ?). (/4°8) In the vehicle (10) according to claim 7, The sealing device (/, 7 da) extends circumferentially around the hub (12!;) and A vehicle (/(17).9) having a flexible seal member (/, ?5) fixed between the wheel mounting housing (///) and the hub (12!;) The vehicle (10) according to item 8, wherein the sealing device (13p) further includes an end seal assembly (/36) installed between the hub (12t) and the wheel (Kuyu, Kuda). ).10. The vehicle (10) according to claim 1, wherein the frame assembly (13) includes a rear frame (/) and a pair of front frames pivotally connected to the rear frame (III). (/4), a pair of the wheels (72) are mounted on the rear frame (l+), and one of the wheels (7da) is mounted on each of the front frames (/6). Vehicle to be mounted (/θ). 11. Vehicle (10) according to claim 2, in which the adjusting device (l+9) comprises at least two cylinders (15) connected between the housing (///) and the hub (/J). , n/), the cylinders (ltO, 15/) spaced apart radially outwardly and spaced apart circumferentially around said solid axis (7). 12. In the vehicle (lo) according to claim 11, each of the cylinders (t go , /!;/) is circumferentially spaced about 90° apart around the solid axis (75). A vehicle (10) located in the opposite direction. 13. The vehicle (10) according to claim 12, wherein each of the cylinders (lt O, n)) is freely attached (l free, /view) between the housing (ll) and the hub (/J). ) vehicle (10). 14. Vehicle (10) according to claim 13, in which the adjustment device (In) controls the movement of the vehicle (10) in a predetermined direction. 15. A vehicle (lo) according to claim 2, wherein the adjustment device is operable to individually selectively position the A vehicle (lo) operable to position all of said wheels (λ, kuda) on a flat surface (/l). 16. In the vehicle (10) according to claim 2, the drive device (160) includes a prime mover (/A/) having an output shaft (lxp) and a plurality of the wheels (7 wheels, 7 wheels). At least one drive train (/4.7) is provided that connects the output shaft (/4) in a drivable manner, and the drive train (1) is driveable to the output shaft (lxx). A gear train (/64=) to be coupled and a first sprocket coupled to the output side of the gear train (lX+) a flexible drive device that drivably connects the sprocket (176), a second sprocket that is rotatably coupled to the spindle (lx7), and the first and second sprockets (17x1g); (tgo). 17. The vehicle (10) according to claim 16, wherein the gear train (l,sp) includes a bevel pinion gear (/44) fixed to the output shaft (/A, 2); 6A), a rotatable ring gear (/6) that is drivably engaged with the rotatable spindle (1gr), a reduction pinion (/69) that is fixed to the rotatable spindle (1gr), and the first sprocket (/76) that is fixed to the rotatable ring gear (/6A). a rotatable hub (172) having a rotatable hub (172), the sprocket hub (/72) having an internally toothed ring gear (/?/) fixed thereto and drivingly engaged with the reduction pinion (/A?). (10). 18. The vehicle according to claim 16, comprising a housing (/45) having the gear train (/611) mounted therein, the housing (16) being attached to the prime mover (/l, /). Vehicle to be installed. 19. The vehicle (10) according to claim 16, wherein the first subrocket (/7A) is connected to each of the flexible drive devices (/g4 and each second subrocket (tgs)). A vehicle (10) having a plurality of connectable sprocket wheels. 20. The vehicle according to claim 16 (/(7), wherein the second sprocket (10-) is fixed to a shaft (tp; q) rotatably mounted in the wheel mounting housing (///), and the shaft (///) is fixed to one of each of the wheels (72, 71I). A vehicle (10) comprising a device (ltO) for freely coupling lq). 21. The vehicle (10) according to claim 20, wherein the coupling device (ltO) has a universal joint (/?/) connecting the shaft (7 in l) and the spindle (/27). (10). 22. The vehicle according to claim 21, wherein the universal joint (l?l) is a hook. A vehicle that is a joint. 23. The vehicle (10) according to claim 21, wherein the universal joint (/?/) is fixed to the shaft (1g7) and formed on the spindle (t27). A vehicle (lo) having a splined spherical ball (/9) driveably engaged with a line (/?,?). 24. A vehicle (10) according to claim 23, wherein the spline (/9.7) is formed into a conical shape and provided with a slope at its upper end where it makes instant contact with the shaft (1g). ). 25. The vehicle (10) according to claim 16, wherein the frame assembly (13) includes a rear frame (l*) and a pair of front frames (/4=) pivotally connected to the rear frame (l*). 16), and a pair of first wheels (7) of the wheels (72, 7<<) are mounted on the rear frame (llI). 26. Vehicle (lo) according to claim 25, wherein a second wheel (7q) of the wheels (72, 74') is mounted on each of the front frames (16). 27. In the vehicle (10) according to claim 26, the drive train (l+3) is an idle sprocket that transmits drive torque from the first sprocket (/7X) to the second sprocket (ly, t). A vehicle (10) further comprising a device (20,t). 28. The vehicle (10) according to claim 27, wherein the idle sprocket The cutting device (〃s) is mounted to rotate about a common axis at the pivot axis of the pivot connection between the rear frame (l+) and each one of the front frames (/A). A vehicle that can be used (/, !7). 29. A vehicle (lO) according to claim 28, in which the flexible drive device (/go) has a plurality of endless chains (/gl. 1g2.tp3.1tlI, 2oo', xl). /θ). 30. The vehicle according to claim 2, (10), wherein each of the plurality of wheels (7 2, 7+) is fixed to the spindle (/, 2?) and the solid axis (7 ?) is fixed to the spindle (/, 2?). A center wheel member (7B) positioned to rotate around the center, a tire (7G), and a rim device (77) supporting the tire (7G), the rim device (77) being positioned around the center. It is fixed to the wheel member (7B), and the rim device (77) is further fixed to the rim device (77). A vehicle (10) equipped with a retainer device (7q) that holds ears (7g). 31. The vehicle (10) according to claim 30, wherein the rim device (7) comprises an annular frusto-conical ring extending circumferentially around the central wheel member (76). The ring (go) has an annular flange (gl) and an arcuate intermediate portion. minute (rx) and smaller than the rounded tip (rlI) and said annular flange (t/) A vehicle (10) comprising a curved lower lip portion (S3) having a small diameter. 32. Vehicle (10) according to claim 31, wherein the retainer device (7?) has an annular ring (tg), which annular flange (gl) of the ring (go). ) is connected to the annular flange (?O) and is aligned with the arcuate intermediate portion (gyu) of the rim device (77) to form an annular surface-shaped tire accommodation cavity (9) at the open end. A vehicle (10) comprising an arcuate intermediate portion (9/) cooperating with the intermediate portion (gco) and a lower lip portion (93) consisting of a square curve with a rounded tip (99). 33. In the vehicle (lo) according to claim 32, the tire (7g) is an elastic annular tire having a nutola-like upper portion (10θ) that is removably housed in the empty space (?). a member (riS), radially inner and outer flat sides (loy.IO:L) extending in an axially outward direction from said cavity (?2), and said central bundle ring member (76). A vehicle (10) having a flat lower surface (lO3) in a plane parallel to the plane. 34. A device (lOq) for mounting wheels (72, 71I) on a frame assembly (/3), comprising: a wheel mounting housing (///) fixed to the frame assembly (13); a swivel joint (//, ?) located in a swivel joint (//, ?), the swivel joint (//, ?) providing a pivot point (Il o) for free movement of said wheels (72,, 71I); furthermore, a hub (tSS) coupled to the swivel joint (//, ?), an input shaft (lOq) rotatably attached to the hub (/J), and a solid shaft center (Water). ) and a spindle (Z27) mounted in said hub (tX) so as to rotate about said spindle ( /, 2?) is fixed to the lower end thereof, and further includes a universal joint (/9/) that drivably connects the input shaft 0tq) to the spindle (l near). Placement (lOq). 35. A device (10q) according to claim 34, in which the swivel joint (//, ?) comprises a hemispherical socket (ll41) with a fitted spherical ball segment (//A) seated therein. A device (toq) comprising: said spherical pole segment (//A) having oppositely located first and second open sides (ll7, ttg) and a hole (//?) extending therethrough. 36. Device (10q) according to claim 35, in which the hub (12t) is located in the hole (//q). 37. A device (loq) according to claim 35, in which the swivel joint (// , ?) is a stop device for limiting the free movement of the ball segment (//A) in the socket (ll40). (/x). 38. A device (lOq) according to claim 37, in which the stop device (tXZ) comprises a recess (//A) formed in the pole segment (//A). 39. The device (lo'/) according to claim 35, comprising: a pin (/2) coupled to the socket (lS/) and extending into the recess (lNia). /7179), the device further comprises a sealing device (/, ?) for preventing contaminants from entering the swivel joint (//, ?). Place (lo9). 40. The device (toq) according to claim 39, wherein the sealing device (/3q) extends circumferentially around the hub (12!;) and connects the wheel mounting housing. (ll2) and the hub (12! ;) A device (lOq) having a flexible sealing member (13) fixed between it. 41. In the device (lo9) according to claim 40, the sealing device (13<=) is an end face seal installed between the hub (/co5) and the wheel (kuyu, kuku). A device further comprising a wheel assembly (13x) (/(7?). 42- such that each wheel (7yu, 7ri) performs a pivoting movement about a pivot point (llo). The vehicle (10) has a device (loq) for individually mounting each vehicle width (?!, ?lI) thereunder, and the mounting device (loq) is attached to a housing. It has a ring (///), a hub (/X), a spindle (lλ) located within the hub (tX) and rotatable around a solid axis (75), and a support surface (ll). In a device (/ll?) for positioning each of a plurality of wheels (72,?da) of a vehicle (lo), a pair of wheels pivotally connected to the housing (///) and the hub (12t) actuator A device (ll9) comprising actuators (tso, tst), the actuators (1!;0, /et/) being circumferentially spaced apart from each other and radially spaced from said solid axis (75). 43. In the device according to claim 42 (l<='?), the actuator A device (lqq) in which the data (lrO, llrl) are spaced apart in the circumferential direction by about 90° around the solid axis (waste). , in the device (/1Iq) according to claim 43, each of the actuators A device (/da?) in which the data (lro, B/) is a double-acting hydraulic cylinder (lr0./lr). 45. The device (lqq) according to claim 44, in which the actuator (lro, 15/) moves the vehicle (10) in a predetermined direction. A device (tqq) operable to selectively orient each wheel (72, 71I) individually and selectively orient the wheels (72, 7I) in unison. 46. The device (/1I9) according to claim 45, wherein the actuator A device (l+y) in which a wheel (tro, 15/) is operable to position all of said wheels (72, 74') in the same flat plane on said support surface (ll). 47. A frame assembly (13), a plurality of wheels (72, 71), and each vehicle width (7x, ?41) is attached to the vehicle (lo) so as to make a turning movement around the turning point (Ilo). and an individual mounting device (LOQ), and the mounting device (LOQ) is attached to the housing. A vehicle that has a spindle (/2) mounted in the hub (/J) so as to rotate around a solid axis (7). 1f4 (10) drive system (zx (17)), a motor device (/A/) that drives its output shaft (lo2), and at least one pair (7 The mobile device (/A/) can be driven by The drive train (/x3) is drivably coupled to the output shaft (/A) of the motor device (/A/) and the housing (/A/). fits in A gear train (/AF) to be accommodated and a plurality of sprockets connected to the gear train (l rating) a first sprocket (17x) having a second sprocket (17x), a second sprocket (tgs) driving each one of the pairs (7x) of said wheels (S, 7+), said first and second sprockets (m); a drive system comprising a flexible drive (tgo) drivably coupling the ttS); Mu(/bo). 48. The drive system (160) according to claim 47, wherein the gear train (l, cp) includes a bevel pinion gear (lXX) fixed to the motor output shaft (l6=), and the pinion (/6A ), a rotatable ring gear (7g7) that is drivably engaged with the rotatable spindle (/6.r), a reduction pinion (/6q) that is fixed to the rotatable spindle (/6.r), and the first sub-fours that are fixed ( a rotatable sprocket hub (/7.2) having a sprocket hub (l7. 7/) a drive system (160) having a drive system (160); 49. The drive system (/6θ) according to claim 48, further comprising a housing (/A&) having the gear train (#l) mounted therein, the housing a drive system (160) in which a ring (/65) is attached to the motor device (16/); 50. The drive system (160) of claim 48, wherein the first step A drive system (/60) in which a sprocket (z, 71-) is fixed for rotation together with said sprocket knob (l?2). 51. The drive system (no) according to claim 47, wherein the second sprocket A rocket (zry) is rotatably mounted within the wheel mounting housing (ll). a drive system (1 60 ). 52. The drive system (160) of claim 51, wherein the coupling device A drive system (/miO) having a universal joint (/q/) that connects the shaft (lr7) and the spindle (/2). 53. In the drive system (/60) according to claim 52, the universal joint A drive system (160) in which the hand (/?/) is a hook joint. 54. The drive system (160) of claim 52, wherein the universal joint The hand (/9/) has a splined spherical ball (/?J) fixed to said shaft (7gq), said ball (/92) is attached to a spline formed in said spindle (127). A drive system (no) drivably engaging the pline (/q, ?). 55. A drive system (160) according to claim 54, wherein the sprocket The in (lq3) is formed into a conical shape at its upper end adjacent to said axis (m) and has a slope. drive system (160). 56. In the drive system (/l-0) according to claim 47, the frame The frame assembly (13) has a rear frame (l<=) and a pair of front frames (16) pivotally connected to the rear frame (tq), and a pair of the wheels (ZX, 7+). A drive system (/bo) in which the first wheels (7 wheels) of the vehicle are mounted on the rear frame (llll). 57. The drive system (16o) according to claim 56, wherein a second wheel (71I) of the wheels (7x, 7+) is mounted on each of the front frames (16). drive system (160). 58. The drive system (160) of claim 57, wherein the first step Drive torque is transmitted from the sprocket (l?a) to the second sprocket (lry). a drive system (160) further comprising an idle sprocket arrangement (〃S) for reaching the vehicle; 59. In the drive system (/Aθ) according to claim 58, the idler The sprocket device (X, t) is connected to the rear frame (/4') and the front frame. A drive system (lW) mounted for rotation about a common axis on the pivot axis of the pivotable connection between the respective one of the frames (/A). 60. The drive system (/Aθ) according to claim 59, wherein the flexible drive device (tgo) drives a plurality of endless chains (lr/.1g2, /za3,1review, xo, xl). a drive system (160) having; 61, a spindle (127), a central wheel member (76) fixed to the lower end of the spindle (l core) so as to rotate around a solid axis (7), and a tire (7 g); a rim device (kuku) that is fixed to the center wheel member (76) and supports the tire (7g); and a retainer device that holds the tire (7t) on the rim device (77). A vehicle wheel (7297 Hiroshi) equipped with a seat (7q) and located so as to rotate around a solid axis (7S). 62. The wheel (7q) according to claim 61, in which the rim device (77) is an annular frusto-conical ring extending circumferentially around the central wheel member (76). 4, said ring (10) having an annular flange (g/), an arcuate intermediate portion (s2), a rounded point (rp) and a diameter smaller than said annular flange (g/); The wheels (7 pieces, 7 pieces) are provided with a lower lip part (t3) consisting of a length curve. 63. In the wheel (72+74') according to claim 62, the retainer The annular device (79) has an annular ring 0;g), and the annular ring (tg) The annular flange connected to the annular flange (gt) of the rim device (10) and the annular surface-shaped tire storage space (gt) at the open end aligned with the arcuate intermediate portion (g) of the rim device (77). a wheel comprising an arcuate intermediate portion (?/) cooperating with said intermediate portion (g2) to form a lower lip portion (q3) consisting of a length curve with a rounded tip; 721711). 64. In the wheel (7q) according to claim 639, the tire (7g) is removably housed in the empty space (7g)! An elastic annular tire member (7g) having a torus-shaped upper portion (□oo), and radially inner and outer side surfaces (10/, l0=) extending in the axially outward direction from the hollow space (9 pieces). , in the above E in a plane parallel to the plane of the center wheel member (ri6)! Wheels (7yu, 7q) with a flat lower surface (lO3). A frame assembly (13) and a plurality of wheels (λ, 7II), a device (lOV) for individually mounting each of the wheels (7 wheels, chestnuts) on the frame assembly (/3), and a device (lOV) for individually mounting each of the wheels (7 wheels, chestnuts) on the frame assembly (/3), and a device (lOV) for individually mounting each of the wheels (7 wheels, chestnuts) on the support surface (ll); and a drive device (16o) for selectively rotating at least one pair of the wheels (7, 2, 7 da), wherein each of the wheels a central wheel member (76) in a plane perpendicular to the solid axis (lid); a tire (rigg) that engages with the support surface (ll); and a tire fixed to the central wheel member (76). (7g); and a retainer device (7q) that holds the tire (7t) in supporting engagement with the rim device (77).66. a seven-frame assembly (13) and a plurality of wheels (13) mounted on the frame assembly (13) for rotation about a solid axis (75) and engaging a supporting surface (75); 7 2, 74') and selectively positioning the wheels (72, 7ri) with respect to the support surface (ll). A vehicle (10) comprising a device (/4=?) for determining a turning point (Ilo) and a drive device (/60) for selectively rotating at least one of the wheels (72, 7*). Each wheel (72, 7+) is attached to the frame assembly for free movement around the a wheel mounting housing (///) comprising a device (IO9) for individual mounting on the body (13), the mounting device (IO?) being fixed to the seven-frame assembly (13); A turning joint that limits the turning point (Ilo) for free movement of the wheels (7yu, 7ri) a hand (//, 7), a hub (12 g) operably connected to said swivel joint (//, 7), and a wheel to be fixed, said solid body of said wheel (72, 71I) a spindle (lx7) located within the hub (tX) so as to be coaxially aligned with the axis (riS) and rotate around the axis (ri5); and the hub (/X) A vehicle characterized in that it is equipped with a bearing device (13O, /, ?/) that rotatably supports the spindle (lnia) inside the vehicle. 67, a frame assembly (13) and a plurality of wheels (7 wheels) attached to the frame assembly (/3) and engaged with the support surface (//), and a self-supporting wheel around the pivot point (llO). Attach each wheel (72°71I) to the frame assembly (13) for normal movement. the hub (/) so that the mounting device (IO?) rotates around the wheel mounting housing (ll/), the hub (tX) and the solid axis (7ri); A vehicle (10) having a spindle (l core) located in a vehicle (10), and further comprising a drive device (160) for selectively rotating at least one of the wheels (7x, yp), along an imaginary spherical segment (/12) having its center (110) at the turning point (110) to move the vehicle (10) in any predetermined direction; a positioning device (zn) for selectively and infinitely positioning each of the wheels (ris, 7+) with respect to the supporting surface (//); !r) A vehicle, characterized in that the actuators (lso, tst) are spaced apart in the circumferential direction around the solid axis (75). 68, a frame assembly (13), a plurality of wheels (7p), and the wheels (72, 71I) attached to the frame assembly (13) for free movement around the pivot point (l lO); The mounting device (109) is equipped with an individual mounting device (10q), and the mounting device (109) It has a wheel mounting housing (///), a hub (13), and a spindle (lcore) located within the hub (lcoS) so as to rotate around a solid axis (7s). Further, in the vehicle (io) equipped with a device (/4 = 9) for selectively positioning the wheel (72, t) with respect to a supporting surface, at least one of the wheels (72, t) is A selectively rotating drive device (160) is provided, and the drive device (11,0) includes a motor (/A/) with an output shaft (l+2) and a plurality of the plurality of wheels (7 units, 7 units). and The output shaft (IO2) also has a drive train (/A, ?) which is drivably coupled to the output shaft (IO2), and the drive train (/A, ?) is housed in the housing (/A&) and the output shaft (IO2) is housed in the housing (/A&). (11,2), a gear train (tbq) that is drivingly engaged with the gear train (/XII), a first subrocket (/7a) coupled to the gear train (/XII), and a plurality of the wheels (7yu, 7ri). a second sprocket (TGS) drivably coupled to at least one of the first and second sprockets; A vehicle characterized in that it has a flexible drive device (110) drivably coupling (In, /g!;)).