WO2001032495A1

WO2001032495A1 - Moving carriage

Info

Publication number: WO2001032495A1
Application number: PCT/JP2000/007684
Authority: WO
Inventors: Fukashi Urakami
Original assignee: Uragami Fukashi
Priority date: 1999-11-04
Filing date: 2000-11-02
Publication date: 2001-05-10

Abstract

A moving carriage capable of being pulled over, namely, moved laterally on a traveling surface easily in a direction crossing a moving direction by providing thereon a plurality of moving means such as drive wheels or endless crawlers, wherein each moving means is formed as drivingly moving means connected to a drive source for driving, and also formed swingable about a set of contact portions selected arbitrarily from among a plurality of contact portions between the drivingly moving means and the traveling surface.

Description

Specification

Moving trolley

Technical field

The present invention relates to a movable trolley that can be easily shifted in width in a direction intersecting with a moving direction, that is, can move laterally.

Background art

Conventionally, mobile trolleys such as bulldozers and tanks are equipped with driving and moving means on both the left and right sides in the direction of movement that can select either forward or reverse, so that they can turn on the spot can do. However, mobile trolleys such as bulldozers and tanks have the following drawbacks that need to be resolved. In other words, the above-mentioned movable trolley can easily move forward, backward, and turn at that location. However, when the trolley is moved in a direction intersecting the moving direction, the movable trolley must It requires a place with an area more than twice as large as the size, and the moving procedure to move the width is very troublesome, such as turning, moving forward, turning backward, and moving backward.

Disclosure of the invention

An object of the present invention is to move on a running surface by providing a plurality of moving means such as driving wheels or endless rails, and each moving means is configured as a driving moving means which is driven by being connected to a driving source. An object of the present invention is to provide a movable trolley capable of easily moving in a direction intersecting the direction in which the trolley moves, that is, capable of being moved laterally.

ADVANTAGE OF THE INVENTION According to this invention, in the movable trolley | bogie which can be moved on a running surface by having provided with several moving means, such as a drive wheel or an endless rail, each moving means is connected to the drive source and driven. And the movable trolley is configured to be able to turn around a arbitrarily selected one of a plurality of contact portions between the driving means and the traveling surface. A mobile trolley is provided. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a plan view showing a first specific example of a mobile trolley constituted according to the present invention.

FIG. 2 is a right side view of the mobile trolley in FIG.

FIG. 3 is a plan view for explaining an example of a turning operation of the mobile trolley and the position of the center of gravity of the mobile trolley in the mobile trolley shown in FIGS. 1 and 2.

FIG. 4 shows the hydraulic cylinder 80 when the running surface 1 is the floor surface and the center of gravity of the mobile trolley is in the area G2 in the mobile trolley shown in FIGS. 1 and 2. FIG. 2 is a right side view illustrating a state in which the piston rod 83 of FIG. 1 is extended and the drive wheels 22 a are separated from the running surface 1.

FIG. 5 shows a hydraulic cylinder 80 when the running surface 1 is the floor surface and the center of gravity of the mobile trolley is in the area G2 in the mobile trolley shown in FIGS. 1 and 2. FIG. 4 is a right side view illustrating a state in which the piston rod 83 of FIG. 1 has contracted and the drive wheels 22 c have been separated from the running surface 1.

FIG. 6 shows the traveling vehicle 1 shown in FIGS. 1 and 2 in which the running surface 1 is the floor surface and the center of gravity of the traveling vehicle is in the G2 region indicated by the oblique parallel lines in FIG. FIG. 7 is an explanatory view showing an example of a moving procedure of the mobile trolley in the right and left directions at the time, and FIG. 7 is a plan view showing a second specific example of the mobile trolley configured according to the present invention.

FIG. 8 is a right side view of the mobile trolley in FIG.

FIG. 9 is a plan view showing a third specific example of the movable trolley constituted according to the present invention.

FIG. 10 is a right side view of the movable cart shown in FIG.

FIG. 11 is a view for explaining an example of a turning operation of the movable trolley in the movable trolley shown in FIGS. 9 and 10;

FIG. 12 is an explanatory diagram illustrating an example of a moving procedure of the lateral movement of the moving vehicle in the moving vehicle illustrated in FIGS. 9 and 10. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a first specific example of the device configured according to the present invention will be described with reference to FIGS. 1 to 6.

In FIGS. 1 and 2, the illustrated mobile trolley has a frame that is divided into two parts, left and right, in the forward direction (indicated by arrow F) in the direction of movement. The left frame 18 has a shape that is elongated in the direction of movement and is made of steel.The frame main part 18 1 is fixed to the end of the frame main part 18 1 and the driven shaft of the drive wheel 22 c. Bearings 18 2, an electric motor 24 L with a reduction gear fixed to the other end of the frame main part 18 1 and having a drive shaft of drive wheels 2 2 d, and a box-shaped It is composed of a central connecting frame part 18 3, a frame main part 18 1 is welded to the left side of the central connecting frame part 18 3, and a right frame 16 and a hinge pin 19 are provided on the right side. Hinge boss portions 184 for hinge connection are welded. A bracket 185 for fixing a support bracket 84 of the intermediate trunnion type hydraulic cylinder 80 is welded to the upper surface of the central connecting frame portion 183.

The right frame 16 has a shape elongated in the direction of movement and is made of steel.The frame main part 16 1 is fixed to the end of the frame main part 16 1 and holds the driven shaft of the drive wheel 22 a. And an electric motor 24 R with a reduction gear fixed to the other end of the frame main part 16 1 and the other end of the frame main part 16 1 and having a drive shaft of drive wheels 22 b. A hinge boss portion 163 for hinged connection with a left frame 18 and a hinge pin 19 is welded to the side surface of the frame main portion 161. A hinge pin 84 is attached to the side of the frame main part 16 1 to connect the clevis 83 attached to the tip of the biston rod 82 of the intermediate trunnion type hydraulic cylinder 80 to the hinge. Holes are provided. The illustrated drive wheels 22a, 22b, 22c and 22d are solid tires having a wear-resistant material such as polyurethane rubber fixed to the outer periphery. A sprocket is fixed to each of the rotating shafts of and 2d, and a roller chain 26L is suspended between the two sprockets. A sprocket is also fixed to each rotating shaft of the drive wheels 22a and 22b, and a roller chain 26 is suspended between the two sprockets. Thus, the moving trolleys shown in FIGS. 1 and 2 each have two driving wheels 22 c, 22 d, each of which is a driving moving means, and one driving and moving means group, and It has a total of two sets of driving / moving means, which is another driving / moving means group having two driving wheels 22a and 22b as moving means. The cylinder part 81 of the hydraulic cylinder 80 is attached to the support bracket 84 with a hinge pin 85, and the operation of the hydraulic cylinder 80 causes the left side of the cylinder part 81 to rotate with the hinge pin 19 as an axis. The relative angle between the frame 18 and the right frame 16 can be arbitrarily changed. FIG. 4 shows a state in which the piston rod 83 of the hydraulic cylinder 80 is extended and the drive wheels 22a are separated from the running surface 1, and FIG. 5 is a diagram showing the hydraulic cylinder FIG. 8 shows a state in which the drive rod 2 2 c is retracted from the running surface 1 due to the contraction of the 80-stone rod 83 ₍ however, FIGS. 4 and 5 show that the running surface 1 is a floor surface. And the state of the mobile trolley when the position of the center of gravity of the mobile trolley is in the G2 region indicated by the oblique parallel lines in Fig. 3. That is, in Fig. 3, pa is the driving wheel 22a. Contact part with running surface 1, pb contact part between driving wheel 22b and running surface 1, pc contact part between driving wheel 22c and running surface 1, pd driving wheel 22d and running surface Cc indicates the intersection of two straight lines, a line connecting pa and pd and a line connecting pb and pc, and the G2 region is pb and pd, and pb and c ( :, Pd Indicates a region surrounded cc to three straight lines connecting, respectively. Next, the function and effect will be described in the apparatus described above.

In Fig. 1, the electric motors 24L and 24R with a reduction gear of the movable trolley are operated to rotate the drive wheels 22c and 22d and the drive wheels 22a and 22b in the same direction. Then, the mobile trolley goes straight along running surface 1 (forward as indicated by arrow F or reverse as indicated by arrow R), and also moves wheels 22c and 22d and wheels 22a and 22b in the opposite direction. When rotationally driven, the mobile trolley turns (turns left or right) around its central axis and is directed in the desired direction. FIG. 3 is a view for explaining an example of the turning operation of the movable trolley according to the present invention, in which the piston rod 83 of the fluid pressure cylinder 80 is extended and the drive wheel 22a is separated from the running surface 1. In FIG. 3, the left-hand drive / moving means group moves in the direction of arrow A while the electric motor with a reduction gear 24 R is stopped in FIG. When the electric motor with a reduction gear 24 L is driven to rotate, the center of the movable trolley makes a right turn in the direction of arrow C around the contact portion pb between the drive wheel 22 b and the running surface 1 as a turning center. Note that P indicates the center of the turning motion of the mobile trolley, and arrow B indicates the turning direction of the drive wheel separated from the running surface 1.

Fig. 6 shows the procedure for moving the mobile trolley laterally when the running surface 1 is the floor and the center of gravity of the mobile trolley is in the G2 area shown by the oblique parallel lines in Fig. 3. FIG.

In FIG. 6, the coordinate axes X 0 and Y 0 are added as indices for understanding the situation of the lateral movement of the movable trolley, ie, the approach of the width. In addition, with respect to a plurality of drawings showing the respective postures of the mobile trolley shown in chronological order in FIG. 6, each drawing shows the posture immediately before the mobile trolley starts the width shifting operation at each time. The arrow A indicates the direction in which the rotationally driven drive wheel is driven, the arrow C indicates the direction in which the central part of the movable truck moves, and the arrow B indicates the direction in which the drive wheel separated from the running surface 1 moves. And P indicates the turning center of the turning motion of the mobile trolley.

In FIG. 1, the running surface 1 is a wall surface, and the moving vehicle has a function of adsorbing on the running surface 1 with the arrow F pointing upward and the arrow R pointing downward and moving along the running surface 1. In this case, the attraction force acting on the mobile trolley gives a force pressing the central part of the mobile trolley in the direction of the running surface 1, while the weight of the mobile trolley corresponds to the arrow R with respect to the central part of the mobile trolley. The forward (upper) drive wheels 22a and 22c are more likely to separate from the running surface 1 than the rear (lower) drive wheels 22b and 22d. It is in a state. Therefore, the lateral movement of the movable cart on the wall, When considering the order, the condition in that case may be considered to be equivalent to the condition in the case of lateral movement of a movable trolley in which the running surface 1 is the floor surface and the position of the center of gravity is in the G2 area, that is, the approach of the width. Therefore, in FIG. 6, the running surface 1 can be regarded as a wall surface.

In the following, the time-series moving procedure of the lateral movement of the movable cart, that is, the width shifting operation in FIG. 6, will be described.

In Fig. (1), when the driving wheels 22c and the driving wheels 22d are rotated so as to move in the direction of arrow A, the movable bogie moves between the driving wheels 22b and the running surface 1 that are not driven to rotate. Turn right with the contact point P as the center of turning and stop at the position shown in Fig. (2).

In Fig. (2), drive wheel 2 2c and drive wheel 2 2d are rotationally driven to move in the direction of arrow A, and at the same time, drive wheel 22a and drive wheel 22b move in the direction of arrow A When it is driven to rotate, the mobile trolley turns left in the direction of arrow C with P at the center of the mobile trolley as the center of turning, and stops at the position shown in Fig. (3).

In Fig. 3 (3), when the driving wheels 22a and 22b are rotationally driven to move in the direction of arrow A, the movable bogie moves between the non-rotating driving wheels 22d and the running surface 1. Turn right with the contact point P as the center of turning, and stop at the position shown in Fig. (4). In addition, Fig. 4 shows the position of the mobile trolley where the horizontal movement of the mobile trolley, that is, the width shifting operation is completed.

In the above, an example of the moving procedure of the right lateral movement of the mobile trolley shown in FIGS. 1 and 2 is illustrated, but the moving procedure of the left lateral movement is easily understood from the above description. Description is omitted.

Next, with reference to FIGS. 7 and 8, a second specific example of the device configured according to the present invention will be described.

7 and 8 is different from the moving carts shown in FIGS. 1 and 2 in that the relative angle between the left frame 18 and the right frame 16 around the hinge pin 19 is arbitrary. Equipped with a hydraulic cylinder 80 for changing to Not in. Therefore, in the movable trolley shown in FIGS. 7 and 8, the driving wheels cannot move away from the running surface 1. In addition, instead of the drive wheel 22a being driven by the electric motor 24R with a reducer via the roller chain 26R, an independent electric motor 24RR with a reducer for the drive wheel 22a is provided. I have. Also, instead of the drive wheel 22c being driven by the electric motor 24L with a reduction gear through the roller chain 26L, an independent motor with a reduction gear 24 LL for the drive wheel 22c is used. It has. The configuration of the mobile trolley shown in FIGS. 7 and 8 is the same as that of the mobile trolley shown in FIGS. 1 and 2 except for the above-described configuration.

Next, the operation and effect of the above-described device will be described.

In FIG. 7, the electric motors 24 LL and 24 L, 24 RR and 24 R with a reduction gear of the movable trolley are operated to drive the driving wheels 22 c and 22 d and the driving wheels 22 a and 22. When b is driven to rotate in the same direction, the mobile trolley travels straight along running surface 1 (forward as indicated by arrow F or reverse as indicated by arrow R), and wheels 22c and 22d and wheels 22a and When 22b is driven to rotate in the opposite direction, the mobile trolley turns (turns left or right) around its central axis and is directed in the desired direction.

Next, in FIG. 7, if the driving wheel 22a is driven in the direction in which the driving wheel 22b is to be moved in the direction of the driving wheel 22b while the driving wheel 22b is stationary, the driving wheel 22a is driven. Spins on the spot. That is, since the frictional resistance of the dynamic frictional resistance is smaller than that of the static frictional resistance, the frictional force between the drive wheel 22a and the wall surface 1 is reduced by the action of the idling. In such a case, when the driving wheels 22c and the driving wheels 22d are rotated so that the left driving means group moves in the direction of arrow A, at this time, the driving wheels 22a generate frictional force with the wall 1. Therefore, the center of the movable bogie makes a right turn in the direction of arrow C with the contact point pb between the drive wheels 22 b and the running surface 1 as the turning center. Note that P indicates the center of the turning motion of the mobile trolley, and arrow B indicates the turning direction of the drive wheel separated from the running surface 1. That is, as will be easily understood, as described above, In the mobile trolley provided with a step, the same width shifting operation as the mobile trolley shown in FIGS. 1 and 2 can be performed.

As described above, the second specific example of the device configured according to the present invention has been described. However, the present invention is not limited to the specific example, and further various modifications or modifications may be made without departing from the scope of the present invention. It is possible to add That is, in the mobile trolleys shown in FIGS. 7 and 8, any of the contact portions between the driving means and the running surface can be arbitrarily selected on the left or right side in the moving direction of the mobile trolley. It is important that the plurality of contact portions on the selected side be configured so that the frictional resistance of the other contact portions except one arbitrarily selected contact portion is reduced. For example, as another method for reducing the frictional resistance of the contact portion, in a moving bogie shown in FIG. 7, vibration means (not shown) such as a well-known pneumatic piston vibrator is provided near the driving wheel 22a. ), The frictional resistance between the drive wheel 22a and the running surface 1 can be arbitrarily reduced by the action of the vibration means.

As described above, among the contact portions between the drive moving means and the traveling surface, one of the arbitrarily selected ones of the plurality of contact portions on the left or right side arbitrarily selected in the moving direction of the movable trolley. Several methods for reducing the frictional resistance of the other contacting parts except for the contacting parts have been proposed. As a further method for reducing the frictional resistance, though not shown, the center of the turning of the moving bogie is not shown. If the movable trolley is configured so that the contact pressure between the arbitrarily selected one contact portion and the traveling surface is higher than the contact pressure between the other contact portion and the traveling surface, the friction of the other contact portion The resistance is less than the abrasion resistance of the arbitrarily selected one contact portion. For example, if the one arbitrarily selected contact portion is arranged closer to the center of gravity of the movable trolley and the other contact portion is arranged at a position distant from the center of gravity, the one arbitrarily selected one can be selected. The contact pressure between the contact portion and the running surface is further increased.

In the first and second specific examples of the present invention described above, two sets of drive moving means, that is, a group of drive transfer means composed of two sets of drive wheels are used. One set is provided on each of the left and right sides with respect to the moving direction of the moving trolley.Each driving and moving means group has one set or three or more sets of drive wheels instead of two sets of drive wheels. Alternatively, an endless truck known per se, that is, an endless rail may be used as the driving / moving means group. In addition, in the driving / moving means group of the specific example, two sets of driving wheels are arranged on the same straight line parallel to the moving direction of the moving trolley, but the driving / moving means group includes a plurality of driving / moving means. In the case where the moving carriages are constructed, they need not necessarily be arranged on the same straight line parallel to the moving direction of the moving trolley, and are arranged with their positions shifted from the axis in the moving direction. May be done.

Hereinafter, a third specific example of the device configured according to the present invention will be described with reference to FIGS. 9 to 12.

In FIGS. 9 and 10, the moving trolley shown in FIG. 9 includes a frame 19, an electric motor 24 R with a reduction gear having a driving shaft of driving wheels 22 b, and a driving wheel 22 d. An electric motor with a reduction gear 24 L with a drive shaft and an electric motor with a reduction gear 24 E with a drive shaft for the drive wheels 22 e are composed of a box-shaped frame 19. A central frame part 194, a left frame part 192 welded to the left side of the central frame part 1994, and a right frame part 191, welded to the right side of the central frame part 194; It is composed of An electric motor with a reducer 24 L is fixed to the rear end of the left frame 192, and an electric motor with a reducer 24 R is fixed to the rear end of the right frame 191. An electric motor 24 E with a reduction gear is fixed to the front side surface of the central frame 19. Note that the left frame portion 192 and the frame portion 191 are formed using a shape steel. Note that, with respect to the moving direction of the mobile trolley, the front of the moving direction is indicated by an arrow F, and the rear of the moving direction is indicated by an arrow R.

The illustrated drive wheels 22b, 22d and 22e are solid tires to which a wear-resistant material such as polyurethane rubber is fixed on the outer periphery. Thus, the moving trolleys shown in FIGS. 9 and 10 each have three drive wheels as drive moving means. Next, the operation and effect of the above-described device will be described.

In FIG. 9, when the electric motors 24 L, 24 R and 24 E with reduction gears of the movable trolley are operated to drive the drive wheels 22 d, 22 b and 22 e in the same direction, The mobile trolley travels straight along running surface 1 (forward as indicated by arrow F or backward as indicated by arrow R). If the driving wheels 22 d and the driving wheels 22 b are driven to rotate in opposite directions while the driving of the driving wheels 22 e is stopped, the movable trolley turns (turns left or right).

FIG. 12 is a diagram for explaining an example of a turning operation other than the above-described turning operation in the movable trolley shown in FIGS. 9 and 10. In FIG. When the electric motors 24 L and 24 E with reduction gears are rotated so that the drive wheels 2 2 d and 2 2 e move in the direction of arrow A while the 4 R is stopped, the center of the moving trolley Turns right in the direction of arrow C around the contact point pb between the drive wheel 2 2 b and the running surface 1. Note that P indicates the center of the swiveling motion of the mobile trolley, and chain lines td and te indicate the trajectories of the drive wheels 22 d and 22 e, respectively.

Hereinafter, the procedure of the lateral movement of the above-mentioned movable trolley, that is, the procedure of shifting the width will be described. First, FIG. 12 illustrates an example of a moving procedure of the lateral movement of the movable cart.

In FIG. 12, the coordinate axes X 0 and Y 0 are added as indices for understanding the lateral movement of the movable trolley, that is, the situation of the width shift. In addition, with respect to a plurality of drawings showing the respective postures of the mobile trolley shown in chronological order in FIG. 12, each drawing shows the posture immediately before the mobile trolley starts the width shifting operation at each time. Arrow A indicates the direction in which the rotationally driven drive wheel is driven, arrow C indicates the direction in which the central part of the mobile trolley moves, and arrow B indicates the direction in which the drive wheel separated from the running surface 1 moves. Indicates the direction, and P indicates the turning center of the turning motion of the mobile trolley.

In FIGS. 9 to 10, the running surface 1 is a wall surface, and the movable bogie is attracted to the running surface 1 with the arrow F pointing upward and the arrow R pointing downward, and along the running surface 1. When the mobile trolley has the function of moving the mobile trolley, the conditions for the lateral movement of the mobile trolley, that is, the width shift, may be considered to be almost the same regardless of whether the running surface is a floor surface or a wall surface. . Therefore, in FIG. 12, the running surface 1 can be regarded as a wall surface. However, in FIGS. 9 to 10, the running surface 1 is a wall surface, and the movable bogie has a function of adsorbing on the running surface 1 with the arrow F pointing upward and the arrow R pointing downward, and moving along the running surface 1. If so, the two sets of drive wheels should be located below the mobile trolley. The reason is that the attraction force acting on the mobile trolley gives a force that pushes the central part of the mobile trolley toward the running surface 1, while the weight of the mobile trolley applies to the central part of the mobile trolley. A force is applied to push down in the direction of arrow R, so that the front (upper) drive wheels are more likely to separate from the running surface 1 than the rear (lower) drive wheels. The stability of the operation of the mobile trolley increases when the drive wheels of the type are arranged on the lower side.

In the following, a description will be given of a time series moving procedure of the lateral movement of the movable trolley in FIG.

In Fig. (1), when the driving wheels 22e and the driving wheels 22d are rotationally driven to move in the directions of arrows Ae and Ad, respectively, the movable trolley becomes the driving wheels 22b which are not rotationally driven. Turn clockwise around the point of contact P with the running surface 1 and stop at the position shown in Fig. (2).

In Fig. 2 (2), when the driving of the driving wheel 22e is stopped, the driving wheel 22d and the driving wheel 22b are driven to rotate in the directions of arrows Ad and Ab, respectively. Then, the movable trolley makes a left turn around the contact point P between the drive wheel 22e that is not rotationally driven and the running surface 1 as the center of turning, and stops at the position shown in Fig. 3 (3).

In Fig. 3 (3), when the drive wheels 22e and the drive wheels 22b are rotated to move in the directions of arrows Ae and Ab, respectively, the movable trolley is driven by the drive wheels 22d that are not rotationally driven. Turn clockwise around the point of contact P with running surface 1 and stop at the position shown in (4). Figure (4) shows the horizontal movement of the mobile trolley. That is, it shows the position of the movable trolley where the width shifting operation is completed.

In the above, an example of the moving procedure of the right lateral movement of the mobile trolley shown in FIGS. 9 to 10 is illustrated. Since it is easily understood, the description is omitted.

The third specific example of the device configured according to the present invention has been described above. Although the first to third specific examples of the device configured according to the present invention have been described above, the mobile trolley as described above is a mobile trolley that performs various operations on a running surface such as a floor. It can be conveniently used as a movable cart that can be easily laterally moved in the direction intersecting the direction in which it moves. Also, the present invention is applied to a mobile trolley having a function of being capable of being vacuum-adsorbed on a running surface such as a wall surface and moving along the running surface, as disclosed in Patent No. 13323843. can do. For example, it intersects with the direction of movement of a mobile trolley that performs old paint film peeling work and painting work on the surface of large structures such as hulls, various tanks and building, and underwater cleaning work at the bottom of the ship It can be conveniently used as a movable trolley that can be easily laterally moved in the direction, that is, it can be shifted to the width.

As described above, the preferred embodiments of the device configured according to the present invention have been described in detail with reference to the accompanying drawings. However, the present invention is not limited to such embodiments, and furthermore, does not depart from the scope of the present invention. It is self-evident that various changes or modifications can be made.

Further, the application example of the present invention is not limited to such an embodiment, but is applied to a mobile trolley traveling on various floor surfaces and a mobile trolley adsorbing on a wall surface and traveling along the wall surface. be able to.

The mobile trolley of the present invention has an advantage that the width of the trolley can be easily set in the direction intersecting with the traveling direction, that is, the trolley can be moved laterally. This has the advantage of requiring a minimum amount of time to perform.

Claims

The scope of the claims

1. A mobile trolley that can be moved on a running surface by providing a plurality of moving means such as driving wheels or endless rails, wherein each moving means is configured as a driving moving means connected to a driving source and driven. Wherein the movable bogie is configured to be able to turn around a arbitrarily selected one of a plurality of contact portions between the drive moving means and the running surface. Trolley.

2. The mobile trolley according to claim 1, comprising at least two sets of drive wheels or one set of endless rails on each of the left and right sides in the moving direction of the mobile trolley.

3. One contact arbitrarily selected in the plural contact portions on the left or right side of the contact portion between the drive moving means and the traveling surface, which is arbitrarily selected on the left or right side in the moving direction of the mobile trolley. The mobile trolley according to claim 2, characterized in that the mobile trolley is configured to avoid contact with other contact parts except for the part.

4. Of the contact portions between the driving means and the running surface, one of the arbitrarily selected ones of the plurality of contact portions on the left side or the arbitrarily selected side in the moving direction of the mobile trolley. 3. The movable trolley according to claim 2, wherein a friction resistance of other contact portions except for the contact portion is reduced.

5. The movable trolley according to claim 4, wherein a vibration device such as a piston vibrator is provided so as to reduce frictional resistance of another contact portion.

6. The moving trolley according to claim 4, characterized in that the driving means for reducing the frictional resistance idles so that the frictional resistance of the other contact portion is reduced.

7. The contact pressure between the arbitrarily selected one contact part and the running surface is higher than the contact pressure between the other contact part and the running surface so that the frictional resistance of the other contact parts is reduced. The mobile trolley according to claim 4, wherein the mobile trolley is configured as described above.

8. Regarding the moving procedure in which the moving carriage is laterally moved in a direction intersecting with the original moving direction, that is, the moving carriage is moved closer to the width, the rotational driving of the driving moving means in one arbitrarily selected contact portion is stopped, The moving trolley according to claim 3, wherein the driving and moving means provided on the other side has a procedure of being rotationally driven at the same time.

9. The vehicle according to claim 1, wherein one set of drive wheels is provided on each of the left and right sides in the moving direction of the mobile trolley, and one set of drive wheels is provided on the front side or the rear side in the moving direction of the mobile trolley. Mobile cart described in.

10. Regarding the moving procedure for moving the mobile trolley in the direction crossing its original direction of movement, ie, moving the mobile trolley to the side, the drive provided on one of the left and right sides in the forward direction of the mobile trolley's movement. In the wheel, the rotational drive of the drive wheel is stopped, while the drive wheel disposed on the other side and the drive wheel disposed on the front side or the rear side are rotationally driven. The mobile trolley according to item 9.

1 1. Regarding the procedure for moving the mobile trolley laterally in the direction intersecting its original movement direction, that is, moving the mobile trolley to the width, the drive wheels provided forward and forward or rearward in the movement direction of the mobile trolley. The method according to claim 9, further comprising the step of stopping the rotational drive of the vehicle and, on the other hand, rotating the two sets of drive wheels arranged on the left and right sides in the forward direction in the moving direction of the movable trolley, respectively. Moving trolley.