Flying device

Abstract

Provided is an apparatus including a cylindrical rotating body having a surface portion that functions as a driving wheel or a work member. A work apparatus includes a body, a cylindrical rotating body disposed below the body, and a control device that controls driving of the cylindrical rotating body, the cylindrical rotating body including a motor and an outer body that is rotated by the motor, and a member provided to the outer body or a surface of the outer body that functions as a driving wheel or a work member.

Description

Technical Field

[0001] This invention relates to a working device having a cylindrical rotating body (e.g., an agricultural vehicle, toy car, flatbed truck, and airplane having a cylindrical rotating body). Background Technology

[0002] There has long been a known composite walking body that connects multiple rotating bodies (see, for example, Patent Document 1). In addition, a shaping mechanism with multiple blades 20 for pruning plants is known (see, for example, Patent Document 2). Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2015-95987 Patent Document 2: U.S. Patent No. 4,383,401 Summary of the Invention The technical problem that the invention aims to solve

[0004] In the prior art, there is no device that has a cylindrical rotating body with a surface portion that functions as a drive wheel or working component. Although the shaping mechanism disclosed in Patent Document 2 can prune plants of the same shape, it cannot perform the desired shaping when the height and shape differences of the plants exceed a certain amount.

[0005] The purpose of this invention is to provide a device having a cylindrical rotating body capable of solving the above-mentioned technical problems. Technical solutions adopted to solve technical problems

[0006] This invention provides a working device, comprising: ontology; Multiple cylindrical rotating bodies positioned below the main body; and A control device for controlling the drive of the cylindrical rotating body; in the working device, the cylindrical rotating body includes: a motor, an outer casing that rotates via the motor, and... Multiple wheels that function as drive wheels, and A wheel motor that drives multiple wheels. At least one of the plurality of cylindrical rotating bodies is a first cylindrical rotating body having a grounded blade, claw, or brush disposed on the surface of the outer body. In the above-mentioned working device, the plurality of cylindrical rotating bodies may also be configured to include a plurality of cylindrical rotating bodies connected in a straight direction via flexible connecting members. The aforementioned working device can also be configured to include four or more of the aforementioned cylindrical rotating bodies. The cylindrical rotating bodies are arranged in a matrix or sawtooth pattern at equal intervals. In the above-mentioned working device, it can also be configured to have multiple telescopic cylinders that are directly or indirectly connected to the cylindrical rotating body. The distance between the plurality of cylindrical rotating bodies and the main body can be adjusted by means of the telescopic cylinder. In the above-mentioned working device, the first cylindrical rotating body may also be provided with blades or claws on the surface of the outer body, so that it can perform grass cutting, pruning, logging, tilling or snow removal. In the above-mentioned working device, at least one of the plurality of cylindrical rotating bodies may be a second cylindrical rotating body having a storage chamber for storing plant seeds and an openable and closed outlet for sowing plant seeds, and arranged in parallel with the first cylindrical rotating body. In the above-mentioned working device, at least one of the plurality of cylindrical rotating bodies may be a third cylindrical rotating body having an outlet for spraying water, disinfectant, herbicide, fertilizer or pesticide, and arranged in parallel with the first cylindrical rotating body. In the aforementioned working device, the first cylindrical rotating body can also be configured as a brush-equipped cylindrical rotating body capable of cleaning, with a brush provided on the surface of the outer casing. The device includes a cover component that covers the outer casing, and a suction port for attracting waste is provided on the cover component. It is composed of a cylindrical rotating body with a brush and a cylindrical rotating body with a suction port arranged side by side. In the above-mentioned working device, the cylindrical rotating body can also be configured to consist of three or more cylindrical rotating bodies, of which at least two function as driving wheels. The aforementioned working device can also be configured to be the size of a toy.

[0007] A second aspect of the present invention provides a working apparatus comprising: The first grounding operation mechanism is composed of a plurality of cylindrical rotating bodies arranged on the same straight line. The second grounding working mechanism is composed of multiple cylindrical rotating bodies arranged on the same straight line. A frame, wherein the first grounding working mechanism and the second grounding working mechanism are arranged side by side; and A control device, which controls the drive of the cylindrical rotating body, is located in the working device. Each of the plurality of cylindrical rotating bodies has a motor and an outer casing that rotates via the motor. The frame has a forward and backward telescopic mechanism that can adjust the distance between the first grounding working mechanism and the second grounding working mechanism. The surface of the outer casing is provided with blades or claws, which can be used to cut grass, prune branches, harvest, till the land or remove snow through the first and second grounding working mechanisms. In the above-described working device, the first grounding working mechanism may also be configured to include a first A rotating mechanism and a first B rotating mechanism arranged on the same straight line. The second grounding operation mechanism is configured to include a 2A rotating mechanism and a 2B rotating mechanism arranged on the same straight line. The frame includes a first width-direction telescopic mechanism that adjusts the distance between the first A rotating mechanism and the first B rotating mechanism, and a second width-direction telescopic mechanism that adjusts the distance between the second A rotating mechanism and the second B rotating mechanism. In the above-mentioned working device, it can also be configured as a plurality of cylindrical rotating bodies, each of the first A rotating mechanism, the first B rotating mechanism, the second A rotating mechanism and the second B rotating mechanism being connected at an angle via flexible connecting members. The above-described working device may also be configured to further include a cylindrical rotating body for ridge shaping extending in an inclined direction from the first grounding working mechanism and / or the second grounding working mechanism. The cylindrical rotating body for ridge shaping has a motor and an outer casing that rotates via the motor. In the above-mentioned working device, it can also be configured to have a flat plate for placing goods and multiple telescopic cylinders for the flat plate that are directly or indirectly connected to the flat plate. The distance between the flat plate and the plurality of wheels can be adjusted by using a telescopic cylinder.

[0008] A third aspect of the present invention provides a working apparatus comprising: Flat section, the flat section being used to place goods; A cylindrical rotating body, wherein the cylindrical rotating body is disposed below the flat plate portion; Multiple wheels, which function as drive wheels; A wheel motor that drives multiple wheels; Multiple telescopic mechanisms for wheels, wherein the multiple telescopic mechanisms for wheels are directly or indirectly connected to the flat plate; and A telescopic mechanism for a cylindrical rotating body, wherein the telescopic mechanism is directly or indirectly connected to the flat plate portion. The distance between the flat plate and the plurality of wheels can be adjusted via a wheel telescopic mechanism. The distance between the cylindrical rotating body and the flat plate can be adjusted by means of a telescopic mechanism. In the above-described working device, it can also be configured to include multiple telescopic cylinders for the wheels that are directly or indirectly connected to the multiple wheels. The distance between the multiple wheels in the width direction can be adjusted by using a telescopic cylinder for the wheels.

[0009] The fourth aspect of the present invention provides a working device comprising: The main body is movable along the elongated member R that is tensioned and mounted above; An opening adjustment device is disposed below the main body. Two rotating bodies assemblies, the two rotating bodies being adjustablely connected to an opening adjustment device; and The wheels are respectively positioned below the two rotating body assemblies of the wheels. In the operating device, The assembly of rotating bodies is composed of multiple cylindrical rotating bodies connected in a straight line. The cylindrical rotating body includes a motor, an outer casing that rotates via the motor, and a trimming blade disposed on the outer periphery of the outer casing. The working device constitutes a pruning mechanism, in which the main body and the opening adjustment device are connected via a turntable. The two rotating assemblies are rotated by rotating the opening adjustment device by the turntable so that the trajectory of the wheel becomes circular, thereby pruning the shape of the tree. In the above-mentioned working device, the turntable and the opening adjustment device can also be configured such that the turntable and the opening adjustment device are connected via a height adjustment device, and the height of the opening adjustment device can be adjusted by the height adjustment device. The aforementioned working device may also be configured to include a telescopic mechanism that adjusts the distance between the wheel and the rotating body assembly in the vertical direction. In the above-mentioned working device, it can also be configured such that multiple cylindrical rotating bodies constituting the rotating body assembly are connected via a connecting member that can be adjusted at an adjustable angle to connect the multiple cylindrical rotating bodies. In the above-mentioned working device, the main body may also be configured such that it includes a separable left movable part and a right movable part, and a sliding mechanism that slidably supports the left movable part and the right movable part. The opening adjustment device consists of a separable left opening adjustment part and a right opening adjustment part supported by the sliding mechanism. When the left movable part and the right movable part separate, the left opening adjustment part, the right opening adjustment part, and the two rotating body assemblies connected to the opening adjustment device separate.

[0010] The fifth aspect of the present invention provides a working apparatus, wherein it comprises: Cylindrical solid of revolution, and The root connected to the cylindrical body of revolution The cylindrical rotating body has Motor, and The outer casing is rotated by a motor. It allows fingertips to be installed in the hole located at the base. In the above-mentioned working device, a brush may also be provided on the surface of the outer body, which can clean the inside of the oral cavity by rotating the cylindrical rotating body. In the above-mentioned working device, the cylindrical rotating body can also be configured to consist of three or more cylindrical rotating bodies. It also has multiple connecting components that connect the two cylindrical rotating bodies so that the angle between them is less than 180°.

[0011] A sixth aspect of the present invention provides a working apparatus comprising: The body extends along a first direction; A first cylindrical rotating body extends along a second direction intersecting the first direction; The second cylindrical rotating body extends along a third direction intersecting the first direction; A first connecting component, wherein the first connecting component is adjustable in angle relative to the body, connects the first cylindrical rotating body and the body; The second connecting component, which adjusts the angle of the second cylindrical rotating body relative to the main body, connects the second cylindrical rotating body and the main body. The first and second cylindrical rotating bodies each have a driving part and an outer body with a brush on its surface that rotates via the driving part, and can clean the inside of the oral cavity by rotating the first and second cylindrical rotating bodies. In the aforementioned working device, the main body may also be configured such that it comprises a third cylindrical rotating body having a drive unit and an outer casing with a brush provided on its surface that rotates via the drive unit. The first to third cylindrical rotating bodies are configured in a "ko" shape, which allows them to brush around the teeth. In the above-described working device, it can also be configured to include a fourth cylindrical rotating body facing the first cylindrical rotating body, and The fifth cylindrical rotating body, facing the second cylindrical rotating body. The angles of the fourth and fifth cylindrical rotating bodies relative to the main body can be adjusted. The fourth and fifth cylindrical rotating bodies have a driving part and an outer body with a brush on its surface that rotates via the driving part, and can clean the inside of the oral cavity by rotating the fourth and fifth cylindrical rotating bodies. In the above-described working device, the main body, the first cylindrical rotating body, and / or the second cylindrical rotating body may also be configured such that they have through holes for inserting vacuum tubes, needle nozzles, conduits, or fiber optic cameras. It is equipped with a vacuum tube, needle nozzle, conduit or fiber optic camera inserted through the through hole. In the above-mentioned working device, the main body, the first cylindrical rotating body, the front end component of the first cylindrical rotating body, the second cylindrical rotating body and / or the front end component of the second cylindrical rotating body may be configured to have an ultrasonic transducer. In the above-described working device, it may also be configured to have an airbag located on the throat side of the main body during installation, which can be inflated by supplying air to the airbag and contracted by expelling the air inside the airbag.

[0012] A seventh aspect of the present invention provides a working apparatus comprising: The body is shaped like a mouthpiece; A first cylindrical rotating body (310a) extends vertically from the main body; The second cylindrical rotating body (310b) extends vertically from the main body; An inner moving mechanism (320) causes the first cylindrical rotating body to move along the inner circumference of the body; An outer moving mechanism (330) causes the second cylindrical rotating body to move along the outer periphery of the main body. The first and second cylindrical rotating bodies each have a driving part and an outer body with a brush on its surface that rotates through the driving part. The first and second cylindrical rotating bodies can rotate, and the inner moving mechanism and the outer moving mechanism can make them move while brushing the inside of the oral cavity.

[0013] An eighth aspect of the present invention provides a working apparatus comprising: The first body of the mouthpiece type; A second body in the form of a mouthpiece, wherein the second body in the form of a mouthpiece is disposed on the inner peripheral side of the first body; Multiple cylindrical rotating bodies extend from the first and second bodies. The plurality of cylindrical rotating bodies each have a drive unit and an outer casing with brushes provided on its surface, which rotates via the drive unit. The plurality of cylindrical rotating bodies are arranged along the inner or outer periphery of the first and second bodies, and the oral cavity can be brushed by rotating the cylindrical rotating bodies. In the above-mentioned working device, the plurality of cylindrical rotating bodies (410) may also be configured such that they extend substantially upward or downward from the first and second bodies. In the above-mentioned working device, the plurality of cylindrical rotating bodies (617, 619) can also be configured such that they extend substantially horizontally from the first and second bodies, and brushes are provided on the end faces of the plurality of cylindrical rotating bodies extending outward.

[0014] A ninth aspect of the present invention provides a working apparatus comprising: The first body of the mouthpiece type; A second body in the form of a mouthpiece, wherein the second body in the form of a mouthpiece is disposed on the inner peripheral side of the first body; A handle component, wherein the handle component connects the first body and the second body; The vibration device causes the first body and the second body to vibrate. The inner peripheral surface of the first body and the outer peripheral surface of the second body form a roughly equal gap G. Brushes are provided on the inner circumferential surface of the first body and the outer circumferential surface of the second body, respectively, which can clean the inside of the oral cavity. In the above-described working device, the vibrating plate that transmits vibration from the vibration device to the first body and the second body may also be embedded in the inner circumferential surface of the first body, the second body and the handle component.

[0015] The tenth aspect of the present invention provides a working device comprising: a first body in the form of a mouthpiece; A first annular elastomer forms the side surface of the first body, and a brush is provided on its surface. A first rotating body assembly, having a driving part that causes a first annular elastic body to rotate, is disposed on a first body; A second body in the form of a mouthpiece, wherein the second body in the form of a mouthpiece is disposed on the inner peripheral side of the first body; The second annular elastomer forms the side surface of the second body, and a brush is provided on its surface. The second rotating body assembly, having a drive unit that rotates the second annular elastic body, is disposed on the second body. It can clean the inside of the oral cavity by rotating the first and second rotator assembly.

[0016] The eleventh aspect of the present invention provides a working apparatus comprising: The body is shaped like a mouthpiece; A U-shaped rotating mechanism for cleaning the back of teeth, the U-shaped rotating mechanism for cleaning the back of teeth is composed of three or more cylindrical rotating bodies connected in a row via flexible connecting parts; A U-shaped rotating mechanism for cleaning the front of teeth, the U-shaped rotating mechanism for cleaning the front of teeth is composed of three or more cylindrical rotating bodies connected in a row via flexible connecting parts; A first pressing component presses the rotating mechanism for cleaning the back of the teeth toward the rotating mechanism for cleaning the front of the teeth; The second pressing component presses against the rotating mechanism for cleaning the front of the teeth towards the rotating mechanism for cleaning the back of the teeth. The oral cavity can be cleaned by driving the rotating mechanism for cleaning the back of the teeth and the rotating mechanism for cleaning the front of the teeth. In the above-mentioned working device, the main body may also be configured to include a sensor, a storage device for storing the sensor's measurement values, and a wireless communication device for transmitting the sensor's measurement values ​​to the outside. The aforementioned working device may also be configured to include an elastic component, which is a disc-shaped or approximately teardrop-shaped component with a thick wall located on the throat side of the body during installation, for training the jaw, tongue, or throat. In the above-mentioned working device, the elastic member may also be configured to have a through hole. It is equipped with a vacuum tube, needle nozzle, catheter, endoscope, cotton swab or fiber optic camera inserted into the through hole. In the above-described working device, it may also be configured to have an airbag located on the throat side of the main body during installation, which can be inflated by supplying air to the airbag and contracted by expelling the air inside the airbag. In the above-mentioned working device, the airbag may also be configured such that it has a through hole. It has a vacuum tube, needle nozzle, catheter, endoscope, cotton swab or fiber optic camera inserted through a through hole in the airbag.

[0017] The twelfth aspect of the present invention provides a working apparatus, wherein it comprises Masking components, and An assembly of multiple rotating bodies configured within a mask component. The rotating body assembly consists of multiple cylindrical rotating bodies with a drive unit and an outer casing with blades on its surface that rotates via the drive unit, and a connecting component that movably connects the multiple cylindrical rotating bodies, enabling the shaving of beards or sideburns by rotating the cylindrical rotating bodies.

[0018] The thirteenth aspect of this invention provides a working device. It consists of a toothbrush device and a beard or sideburn shaving device, in which the working device, The tooth-brushing device is the aforementioned operating device equipped with a brush. The beard or sideburn shaving device is the aforementioned working device capable of shaving beards or sideburns. The brushing device can be mounted on the mask component to simultaneously brush teeth and shave beard or sideburns.

[0019] The fourteenth aspect of the present invention provides a working apparatus comprising: Two or more cylindrical solids of revolution; A connecting component that can adjust the angle of connection between two or more cylindrical rotating bodies; Multiple telescopic cylinders, each having an ear hook component, are connected to a cylindrical rotating body. The cylindrical rotating body has Motor, and An outer casing with blades mounted on its surface, which is rotated by a motor. It is possible to shave off beards or sideburns by rotating the cylindrical rotating body.

[0020] The fifteenth aspect of the present invention provides a working device comprising: a main body; A first cylindrical rotating body, which is directly or indirectly connected to the main body and has blades; The second cylindrical rotating body is directly or indirectly connected to the main body and has blades; A first connecting component, the first connecting component being capable of adjusting the angle of the first cylindrical rotating body relative to the main body; The second connecting component is capable of adjusting the angle of the second cylindrical rotating body relative to the main body; Power supply section; and The control unit, which includes an acceleration sensor, enables the operating device to fly by rotating the first and second cylindrical rotating bodies. In the operating device, The first and second cylindrical rotating bodies each have a motor and an outer casing that rotates via the motor. The control unit adjusts the angles of the first and second cylindrical rotating bodies, connected by the first and second connecting members, relative to the main body, and the rotational speed of the blades of the first and second cylindrical rotating bodies, based on signals from the acceleration sensor. The above-mentioned working device may also be configured to include: a third cylindrical rotating body, which connects the first connecting member and the main body; A fourth cylindrical rotating body, which connects the second connecting component and the main body; A third connecting component, which is capable of adjusting the angle of the third cylindrical rotating body relative to the main body; The fourth connecting component is capable of adjusting the angle of the fourth cylindrical rotating body relative to the main body. The control unit adjusts the angle of the third and fourth cylindrical rotating bodies connected by the third and fourth connecting members relative to the main body based on the signal from the acceleration sensor. In the above-described working device, it may also be configured to include a base (1102) that supports the main body. A front connecting component is provided at the front of the base, which is capable of adjusting the angle of the base relative to the third cylindrical rotating body. A rear connecting component is provided at the rear of the base, which is capable of adjusting the angle of the base relative to the fourth cylindrical rotating body. The base can be configured at any angle relative to the first to fourth cylindrical rotating bodies. In the above-mentioned working device, the base may also be configured to have a pair of wings. The above-mentioned working device may also be configured to include: a third cylindrical rotating body, which is directly or indirectly connected to the main body and has blades; A fourth cylindrical rotating body, which is directly or indirectly connected to the main body and has blades; A third connecting component, which is capable of adjusting the angle of the third cylindrical rotating body relative to the main body; The fourth connecting component is capable of adjusting the angle of the fourth cylindrical rotating body relative to the main body; A first connecting rod component aligns the first to third cylindrical rotating bodies on the same straight line, and a second cylindrical rotating body is located between the first and third cylindrical rotating bodies; and The second connecting rod component (1210g) is orthogonally arranged with the third connecting component, connecting the second cylindrical rotating body and the fourth cylindrical rotating body. The control unit adjusts the angle of the third and fourth cylindrical rotating bodies connected by the third and fourth connecting members relative to the main body based on the signal from the acceleration sensor. The above-mentioned working device may also be configured to include: a third to a sixth cylindrical rotating body, the third to a sixth cylindrical rotating body being directly or indirectly connected to the main body, and having blades; The third to sixth connecting components are capable of independently adjusting the angle of the third to sixth cylindrical rotating bodies relative to the main body; The first connecting rod component (1310g, 1310h) arranges the first to third cylindrical rotating bodies on the same straight line, and the second cylindrical rotating body is located between the first cylindrical rotating body and the third cylindrical rotating body. The second connecting rod components (1310i, 1310j) arrange the fourth to sixth cylindrical rotating bodies on the same straight line, and the fifth cylindrical rotating body is located between the fourth and sixth cylindrical rotating bodies; and The third connecting rod component (1310k) connects the second cylindrical rotating body and the fifth cylindrical rotating body. Configured on the fourth connecting component, The control unit adjusts the angle of the third to fourth cylindrical rotating bodies connected by the third to sixth connecting parts relative to the main body based on the signal from the acceleration sensor. The above-mentioned working device may also be configured to include: a third cylindrical rotating body, which is directly or indirectly connected to the main body and has blades; A fourth cylindrical rotating body, which is directly or indirectly connected to the main body and has blades; A third connecting component, which is capable of adjusting the angle of the third cylindrical rotating body relative to the main body; The fourth connecting component is capable of adjusting the angle of the fourth cylindrical rotating body relative to the main body; A frame, wherein the first to fourth cylindrical bodies of revolution are positioned at the four corners of a rectangle or square; and The main body, which is disposed on the frame, The control unit adjusts the angle of the third and fourth cylindrical rotating bodies connected by the third and fourth connecting members relative to the main body based on the signal from the acceleration sensor. In the above-mentioned working device, the frame may also be configured to have a pair of wings. In the above-mentioned working device, the main body may also be configured such that the same number of width-direction telescopic mechanisms as the blades are capable of adjusting the horizontal distance between the blades of the first to fourth cylindrical rotating bodies. In the above-described working device, the main body may also be configured such that the same number of vertical telescopic mechanisms as the blades are capable of adjusting the vertical distance between the blades of the first to fourth cylindrical rotating bodies. The control unit automatically adjusts the extension and retraction of the vertical telescopic mechanism based on signals from the acceleration sensor. In the above-mentioned working device, the control unit may also be configured to independently control the angle of the first to fourth cylindrical rotating bodies connected by the first to fourth connecting members and the rotation direction of the blades, thereby enabling the switching between the ascending mode and the horizontal movement mode. In the above-mentioned working device, it may also be configured to have a root connecting member that enables the blades of the first to fourth cylindrical rotating bodies to bend outward from the root. The aforementioned working device may also be configured to include accessories for connecting to external vehicles, aircraft, or ships. The blades are bent by the first to fourth connecting components, thereby generating a horizontal thrust. The aforementioned working device can also be configured to function as a boat in water.

[0021] The sixteenth aspect of the present invention provides a working device comprising: Main body; main wing; Multiple cylindrical rotating bodies for main wings are disposed on the main wings and are equipped with blades; Multiple connecting components for the main wing, wherein the multiple connecting components for the main wing are capable of individually adjusting the angle of the multiple cylindrical rotating bodies for the main wing relative to the main wing; Tail fin; and The control unit, which includes an acceleration sensor, enables the operating device to fly by rotating the main wing using a cylindrical rotor. The main wing uses a cylindrical rotating body equipped with a motor and an external assembly that rotates via the motor. The control unit adjusts the angle of the cylindrical rotating body of the main wing, which is connected by the main wing connecting member, relative to the main body, and the rotational speed of the blades of the cylindrical rotating body of the main wing, based on the signal from the acceleration sensor. The aforementioned working device may also be configured to include: a plurality of tail fin cylindrical rotating bodies with blades disposed on the tail fin, and... A connecting component for multiple tail fins, capable of individually adjusting the angle of multiple cylindrical rotating bodies relative to the tail fins. The tail fin cylindrical rotating body has a motor and an outer casing that rotates via the motor. The control unit adjusts the angle of the cylindrical rotator of the tail fin relative to the main body, and the rotational speed of the blades of the cylindrical rotator of the tail fin, based on the signal from the acceleration sensor. The aforementioned working device may also be configured to include: a main wing connecting component disposed on the bottom surface of the main wing, and... Tail fin connecting component disposed on the underside of the tail fin. The plurality of cylindrical rotating bodies for the main wing and the plurality of connecting components for the main wing are respectively provided on the front and rear sides of the main wing connecting component. The plurality of cylindrical rotating bodies for tail fins and the plurality of connecting components for tail fins are respectively provided on the front side and the rear side of the tail fin connecting component.

[0022] The seventeenth aspect of the present invention provides a working apparatus comprising: ontology; A cylindrical rotating body, which is directly or indirectly connected to a main body and has blades; A connecting component, the connecting component being capable of adjusting the angle of the cylindrical rotating body relative to the main body; Power supply section; and The control unit includes an acceleration sensor and a wireless communication device. The cylindrical rotating body includes a motor and an outer casing that rotates via the motor. The blade is composed of a cylindrical rotating body with an outer casing having blade components. It can fly by rotating the cylindrical rotating body. The control unit adjusts the angle of the cylindrical rotating body connected by the connecting member relative to the main body, as well as the rotational speed of the blades of the cylindrical rotating body, based on the signal from the acceleration sensor. The aforementioned working device may also be configured to include a movable part whose relative position with respect to the main body is variable. The cylindrical rotating body is directly or indirectly connected to the upper part of the movable part. It also includes a second cylindrical rotating body with blades that is directly or indirectly connected to the lower part of the movable part, and A second connecting component capable of adjusting the angle of the second cylindrical rotating body relative to the main body. The control unit adjusts the angle of the second cylindrical rotating body connected by the second connecting member relative to the main body, and the rotational speed of the blades of the second cylindrical rotating body, based on the signal from the acceleration sensor.

[0023] The eighteenth aspect of the present invention provides a working apparatus comprising: The body has a mounting portion; The first to third cylindrical rotating bodies are directly or indirectly connected to the main body and have blades; The first to third connecting components are capable of adjusting the angle of the first to third cylindrical rotating bodies relative to the main body; The first to third root connecting parts connect the first to third connecting rod parts and the main body; First to third connecting rod components, the first to third connecting rod components are connected to the first to third root connecting components and the first to third connecting components; Power supply section; and The control unit includes an acceleration sensor, and the working device is capable of flight by rotating the first to third cylindrical rotating bodies. The first to third cylindrical rotating bodies each have a motor and an outer casing that rotates via the motor. The control unit can adjust the angle of the first and third cylindrical rotating bodies connected by the first and third connecting members relative to the main body, as well as the rotational speed of the blades of the first and third cylindrical rotating bodies, based on the signal from the acceleration sensor. It is able to grasp an object placed on the mounting portion by bending the first to third connecting parts and / or the first to third root connecting parts. In the above-described working device, the main body may also be configured to have a sliding mechanism that enables at least one of the root connecting members among the first to third root connecting members to slide. In the above-mentioned working device, the main body may also be configured to have a pair of wings. In the above-mentioned working device, the main body can also be configured such that the main body is composed of a first main body component and a second main body component, and the first main body component and the second main body component can be bent to form a valley.

[0024] The nineteenth aspect of the present invention provides a working device, It consists of a first working device and a second working device, wherein, The first and second working devices include: A rotating component that rotates on an elongated component; The main body is connected to the rotating component; An arched frame, located below the main body, is freely detachable from and connected to the main body. Multiple wheels, and a multiple wheel support frame; A drive unit that rotates the wheels; Control device, the control device controlling the drive device; and Wireless communication devices, A dome can be formed by covering the frames of the first and second working devices with a cover component. The distance between the first and second working devices can be adjusted by sending control signals to the control device via the wireless communication device. In the above-mentioned working device, the main body may also be configured such that it has a sensor and a storage device for storing the sensor's measurement values, and is capable of transmitting the sensor's measurement values ​​to the outside via a wireless communication device. In the above-mentioned working device, the cover component can also be made of vinyl resin, and the dome can form an agricultural tunnel. In the above-described working device, the rotating component may also be configured to consist of a plurality of rotating components that are connected to the frame at equal intervals. The wheels are connected to the frame via a telescopic mechanism.

[0025] The twentieth aspect of this invention provides a working device. This is a bathtub cleaning device, comprising: a main body; a main body drive unit for moving the main body along the side wall of the bathtub; a cylindrical rotating body; and a connecting member for fixing the main body and the cylindrical rotating body in a manner that allows them to change their angle. The cylindrical rotating body has a motor and an outer casing with brushes on its surface that are rotated by the motor. In the above-mentioned working device, the cylindrical rotating body can also be configured such that it consists of a first cylindrical rotating body extending along a first direction and a second cylindrical rotating body extending along a second direction different from the first direction. It also includes a connecting component that fixes the first cylindrical rotating body and the second cylindrical rotating body in a manner that allows them to change their angles. The aforementioned working device may also be configured to include: a third cylindrical rotating body, the third cylindrical rotating body having a motor and an outer casing with brushes provided on its surface that is rotated by the motor; and The second connecting component fixes the second cylindrical rotating body and the third cylindrical rotating body in a manner that allows their angles to be changed. In the aforementioned working device, the main body can also be configured such that it is connected to the sub-machine via a telescopic mechanism. The submachine includes a cylindrical rotating body for cleaning with an outer surface extending along the first direction. The cylindrical rotating body for cleaning the outer surface includes a motor and an outer casing on which a brush is provided on the surface that is rotated by the motor.

[0026] The twenty-first aspect of this invention provides a working device for cleaning toilets, comprising: Self-propelled unit, which is capable of autonomous movement on the ground; First and second cylindrical bodies of revolution; A telescopic mechanism, which is indirectly connected to the self-propelled part; A first connecting component movably connects the first and second cylindrical rotating bodies; a second connecting component movably connects the second cylindrical rotating body and the telescopic mechanism, in the working device. The first cylindrical rotating body includes a motor and an outer casing on which a brush is provided on the surface that is rotated by the motor. The second cylindrical rotating body includes a motor and an outer casing on which a brush, sponge or cleaning cloth is provided on the surface to rotate by the motor. Invention Effects

[0027] According to the present invention, a working device having a cylindrical rotating body that functions as a drive wheel or working component can be provided. Attached Figure Description

[0028] Figure 1 This is a perspective view showing an example of a rotating body assembly according to the first embodiment. Figure 2 It is a diagram used to illustrate the connection and rotation of a cylindrical solid of revolution. Figure 2 (A) is a side view of the cylindrical solid of revolution before connection. Figure 2 (B) is a side view of a cylindrical solid of revolution that is connected and undergoes rotation. Figure 2 (C) is a side view of a modified example of a cylindrical rotating body that is connected and performs a rotational motion. Figure 3 This is a block diagram showing the structure of the cylindrical rotating body in this embodiment. Figure 4 This diagram shows an example of a flatbed cart equipped with the cylindrical rotating body of the first embodiment. Figure 4 (A) is a side view of a flatbed truck with four cylindrical rotating bodies as wheels. Figure 4 (B) is a side view of a flatbed truck with four cylindrical rotating bodies as wheels. Figure 4 (C) is a side view of a flatbed truck equipped with a turntable on its bottom surface with a cylindrical rotating body. Figure 5 This is a block diagram showing the structure of the cylindrical rotating body according to the second embodiment. Figure 5 (A) is a diagram representing the contraction state. Figure 5 (B) is a diagram showing the elongated state. Figure 6 This is a block diagram showing the structure of the cylindrical rotating body in the third embodiment. Figure 7 This is a perspective view showing an example of the rotating body assembly according to the fourth embodiment. Figure 8 This is a perspective view showing an example of the rotating body assembly according to the fifth embodiment. Figure 9 This is a perspective view showing an example of the rotating body assembly according to the fifth embodiment. Figure 10 is a diagram showing an example of a robotic arm with a rotating body assembly according to the sixth embodiment. Figure 10(A) is a top view, Figure 10(B) is a side view showing the gripping state, and Figure 10(C) is a side view of the rotating body assembly with a blade. Figure 11 is a diagram showing the working device with a rotating body assembly according to the seventh embodiment. Figure 12 is a diagram showing a modified example of the working device with a rotating body assembly according to the seventh embodiment, and is a side view of a mowing mechanism composed of two cylindrical rotating bodies. Figure 13 is a diagram showing the working device with a rotating body assembly according to the eighth embodiment. Figure 13(A) is a perspective view of the mowing device with a mowing mechanism composed of three cylindrical rotating bodies. Figure 13(B) is a side view. Figure 13(C) is a top view. Figure 13(D) is a side view of a modified example. Figure 14(A) is a front view of a first modified example of an agricultural work vehicle (implementation vehicle) with a rotating body assembly according to the eighth embodiment, Figure 14(B) is a front view of a second modified example, and Figure 14(C) is a front view of a mowing mechanism. Figure 15 is a diagram showing an example of an agricultural work vehicle (agricultural implement) with a rotating body assembly according to the ninth embodiment. Figure 16 is a diagram showing an example of a working device (finger sleeve) with a cylindrical rotating body or a group of rotating bodies according to the tenth embodiment. Figure 16(A) is a structural example with a single cylindrical rotating body, Figure 16(B) is a structural example with a group of rotating bodies, and Figure 16(C) is a structural example with a curved portion. Figure 17(A) is a top view showing the connecting member of the eleventh embodiment, and Figure 17(B) is a top view showing the state in which the connecting member is connected to the cylindrical rotating body. Figure 18(A) is a top view showing the working device of the rotating body assembly according to the eleventh embodiment, Figure 18(B) is a perspective view, and Figure 18(C) is a side view showing the loading state of the car. Figure 19 is a diagram showing the working device with a rotating body assembly according to the twelfth embodiment. Figure 20 is a diagram illustrating the working device with a cylindrical rotating body according to the thirteenth embodiment. Figure 20(A) is a front view of a first flatbed with a cylindrical rotating body below the flatbed section. Figure 20(B) is a front view of a second flatbed with a cylindrical rotating body below the flatbed section. Figure 20(C) is a front view of a third flatbed with a cylindrical rotating body for wheel drive. Figure 21 is a diagram illustrating a modified example of the working device according to the thirteenth embodiment. Figure 22(A) is a side view of the working device with a cylindrical rotating body according to the fourteenth embodiment, and Figure 22(B) is a top view of a modified example of Figure 22(A). Figure 23(A) is a top view of the working device with a cylindrical rotating body according to the fifteenth embodiment, and Figure 23(B) is a top view of a modified example of Figure 23(A). Figure 24(A) is a side view illustrating a modified example of the fifth embodiment of the working device, Figure 24(B) is a side view illustrating a first posture of the rotating body assembly, and Figure 24(C) is a side view illustrating a second posture of the rotating body assembly. Figure 25(A) is a side view illustrating the working device of the first modified example of the eighth embodiment, and Figure 25(B) is a side view illustrating the working device of the second modified example. Figure 26(A) is a bottom view of a modified example of the fifth embodiment of a working device having a rotating body assembly, and Figure 26(B) is a side view. Figure 27 is a side view of the telescopic cylinder connected to the rotating body assembly of the second embodiment. Figure 28 is a side view of a cylindrical rotating body connected to the telescopic cylinder in Figure 27. Figure 29 is a top view of a lifting device for a rotating assembly with telescopic cylinders connected to both ends. Figure 30 is a side view of a plow mechanism consisting of plow nails mounted on a cylindrical rotating body. Figure 31 is a top view showing the main parts of the plow mechanism of Figure 30. Figure 32 is a diagram showing the connection method of the cylindrical rotating body in Figure 30. Figure 32(A) is a side view of the connected cylindrical rotating body, and Figure 32(B) is a side view of the connector. Figure 33 is a bottom view showing a structural example of using a cylindrical rotating body as a road roller. Figure 34 is a diagram illustrating a modified example of the sixth embodiment of the working apparatus. Figure 35 is a side view of the working device with a cylindrical rotating body according to the sixteenth embodiment. Figure 36 is a side sectional view of the main part of the first modified example of the cylindrical rotating body according to the sixteenth embodiment. Figure 37 is a side view of the working apparatus of the second variant of the sixteenth embodiment. Figure 38(A) is a side view of the working device with a cylindrical rotating body according to the seventeenth embodiment, and Figure 38(B) is a cross-sectional view along line AA of Figure 38(A). Figure 39(A) is a side view of the inner moving mechanism of the seventeenth embodiment, and Figure 39(B) is a side view of a modified example of Figure 39(A). Figure 40 is a bottom view of the working device with a cylindrical rotating body according to the eighteenth embodiment. Figure 41 is a top view of the working device according to the nineteenth embodiment. Figure 42 is a top view of a modified example of the working device according to the nineteenth embodiment. Figure 43(A) is a bottom view of the working device according to the twentieth embodiment, and Figure 43(B) is a side view. Figure 44 is a side view of the working device with a cylindrical rotating body according to the twenty-first embodiment. Figure 45 is a side view illustrating the usage of the operating device according to the eighteenth and twenty-first embodiments. Figure 46(A) is a front view showing the first state of the working device according to the twenty-second embodiment, and Figure 46(B) is a front view showing the second state. Figure 47(A) is a perspective view of the working device according to the twenty-third embodiment, and Figure 47(B) is a perspective view of a modified example of the working device according to the twenty-third embodiment. Figure 48(A) is a side view of the working device (lifting mode) according to the twenty-fourth embodiment, Figure 48(B) is a side view of the horizontal movement mode, and Figure 48(C) is a side view of the loading mode. Figure 49 is a side view of a modified example of the working device according to the twenty-fourth embodiment. Figure 50 is a side view showing an example of an accessory for mounting the working device of the twenty-fourth embodiment on the roof of a car. Figure 51 is a top view of the working apparatus according to the twenty-fourth embodiment. Figure 52 is a perspective view of the working device according to the twenty-fifth embodiment. Figure 53 is a perspective view of the working device according to the twenty-sixth embodiment. Figure 54(A) is a side view of the working device according to the twenty-seventh embodiment, Figure 54(B) is a side view of the working device 870, and Figure 54(C) is a cross-sectional view along line AA of Figure 54(A). Figure 55(A) is a side view of the cleaning section of the working device according to the twenty-eighth embodiment, Figure 55(B) is a top view of the working device, and Figure 55(C) is a side view of a modified example. Figure 56(A) is a perspective view of the working device according to the twenty-ninth embodiment, and Figure 56(B) is a perspective view of a modified example. Figure 57(A) is a side view of the working device according to the thirtieth embodiment, Figure 57(B) is a side view of the working device in a first posture according to a modified example of Figure 57(A), Figure 57(C) is a side view of the second posture, and Figure 57(D) is a side view of the third posture. Figure 58(A) is a side view showing the first posture of the working device according to the thirty-first embodiment, Figure 58(B) is a side view showing the second posture, and Figure 58(C) is a side view of a modified example. Figure 59 is a perspective view of the working device according to the thirty-second embodiment. Figure 60 is a perspective view of the working device according to the thirty-third embodiment. Figure 61(A) is a top view of the working device according to the thirty-fourth embodiment, and Figure 61(B) is a top view of a modified example of Figure 61(A). Figure 62(A) is a side view of the working device according to the thirty-fifth embodiment, and Figure 62(B) is a top view. Figure 63(A) is a side view of the inner moving mechanism according to the thirty-sixth embodiment, and Figure 63(B) is a side view of a modified example of Figure 63(A). Figure 64(A) is a perspective view of the working device according to the thirty-seventh embodiment, and Figure 64(B) is a perspective view of a modified example of Figure 64(A). Figure 65 is a perspective view of the working device according to the thirty-eighth embodiment. Figure 66(A) is a side view illustrating the first posture of the working device according to the thirty-ninth embodiment, Figure 66(B) is a side view illustrating the second posture, and Figure 66(C) is a side view of the working device according to a modified example of the thirty-ninth embodiment. Figure 67(A) is a side view illustrating the first posture of the working device of the modified example of the twelfth embodiment, and Figure 67(B) is a side view illustrating the second posture. Figure 68 is a side view of the working device according to the fortieth embodiment. Figure 69 is a top view of the working apparatus according to the forty-first embodiment. Figure 70 is a perspective view of the working device according to the forty-second embodiment. Figure 71 is a perspective view of the working device according to the forty-third embodiment. Figure 72(A) is a side view of the forty-fourth embodiment, and Figure 72(B) is a bottom view. Detailed Implementation

[0029] The cylindrical rotating body and rotating body assembly of the present invention, as well as the working device (also known as an agricultural work vehicle, toy car, flatbed vehicle, and flying body) having the cylindrical rotating body, will be described below with reference to the accompanying drawings.

[0030] First Implementation Method Figure 1 This is a perspective view of the rotating body assembly 1 according to the first embodiment. Figure 2 This is a diagram used to illustrate the connection and rotation of the cylindrical rotating body 10. Figure 3 This is a block diagram showing the structure of the cylindrical rotating body 10 in the first embodiment.

[0031] like Figure 1 As shown, multiple cylindrical rotating bodies 10 are connected to form the rotating body assembly 1 of the first embodiment. Specifically, as... Figure 1 and Figure 2 As shown, a rotating body assembly 1 is formed by connecting a first connecting portion 14 of a cylindrical rotating body 10 with a second connecting portion 15 of another cylindrical rotating body 10. In this embodiment, a spiral groove (spiral surface) is formed on the inner surface of the concave first connecting portion 14 and the outer surface of the convex second connecting portion 15, thereby allowing the first connecting portion 14 of the cylindrical rotating body 10 and the second connecting portion 15 of the other cylindrical rotating body 10 to be connected by tightening. It should be noted that the first connecting portion 14 and the second connecting portion 15 are not limited to spiral grooves (spiral surfaces); any structure in which the first connecting portion 14 and the second connecting portion 15 can be interlocked is acceptable. For example, the first connecting portion 14 and the second connecting portion 15 can also be constituted by an accessory (connecting joint) including a protrusion and a concave part. like Figure 2 As shown, the rotating body assembly 1 may also be used by connecting one end (connecting part 14 or connecting part 15) to the connecting part 71 of the rotating body fixing member 70. The fixing member 70 is, for example, part of a working device such as an agricultural work vehicle, a toy car, or a flatbed truck.

[0032] like Figure 3 As shown, the cylindrical rotating body 10 includes a stator 11, a core 12, an outer casing 13, a first connecting portion 14, and a second connecting portion 15. In this embodiment, the first connecting portion 14 and the second connecting portion 15 are integrally formed with the core 12, and the stator 11 is fixed inside the core 12.

[0033] The stator 11 and the outer casing (rotor, rotor) 13 together constitute the motor mechanism. The stator 11 has a current control device (not shown) and multiple stator coils. Power supplied from inside or outside the stator generates magnetic force, causing the outer casing 13, located outside the stator 11, to rotate. As described above, the stator 11 is fixed inside the core 12, such as... Figure 2 As shown in (B) or (C), the first connecting portion 14, which is integrally formed with the core 12, is fixed to the rotating body fixing member 70. Thus, the stator 11 is fixed, allowing the outer body 13 to rotate. Figure 2 (B) indicates a structure in which the connected cylindrical rotating bodies 10 and 10, and their outer casings 13 and 13, rotate independently. Figure 2 (C) indicates a structure in which the connected cylindrical rotating bodies 10 and 10, and their outer casings 13 and 13 rotate in tandem. Figure 2 In the modified example (C), the end faces 130 and 130 on the connecting side of the outer components 13 and 13 are formed by sawtooth surfaces, and the outer components 13 and 13 are connected by the engagement of the end faces 130 and 130.

[0034] Furthermore, in this embodiment, the first connecting portion 14 and the second connecting portion 15 have electrical contacts (not shown), through which power can be supplied to the stator 11 from the inside or outside. Additionally, the cylindrical rotating body 10 can receive power from an external device (rotating body fixing member 70) connected to the power supply side or from the cylindrical rotating body 10 itself, and supply power to the cylindrical rotating body 10 connected to the side opposite to the power supply side. For example, in... Figure 2 In the examples shown in (B) and (C), the cylindrical rotating body 10 (from the power source (rotating body fixing member 70)) Figure 2 (B) and (C) The cylindrical rotating body 10 on the left and right sides are compared with the cylindrical rotating body 10 on the opposite side. Figure 2Power is supplied to the cylindrical rotating bodies 10 on the right side of (B) and (C), enabling both cylindrical rotating bodies to rotate simultaneously. It should be noted that in this embodiment, an electric motor is exemplified as the motor mechanism, but the structure of the motor mechanism is not limited; it can be any mechanism that allows the outer casing 13 to rotate. It can also be a hydraulic motor, a pneumatic motor, or an electric motor utilizing a hydrogen fuel cell. Multiple motors can be used as the drive source for the cylindrical rotating bodies, or a hybrid drive source combining an engine and a motor can be employed.

[0035] The outer casing 13 is formed to cover the outer periphery of the core 12 and is rotatable. The outer casing 13 has, for example, a magnet and functions as a rotor relative to the stator 11.

[0036] The first connecting portion 14 and the second connecting portion 15 provided at the ends are components for connecting to the second connecting portion 15 and the first connecting portion 14 of another cylindrical rotating body 10, respectively, and have a structure for mutually engaging with the second connecting portion 15 and the first connecting portion 14 of the other cylindrical rotating body 10. For example, in Figure 1 In the example shown, spiral grooves (spiral surfaces) are formed in the first connecting portion 14 and the second connecting portion 15, thereby allowing the first connecting portion 14 and the second connecting portion 15 of the other cylindrical rotating body 10 to be tightened together. Furthermore, besides the case where the first connecting portion 14 and the second connecting portion 15 are connected to the second connecting portion 15 and the first connecting portion 14 of the other cylindrical rotating body 10, as... Figure 2 As shown in (A) and (B), there are also cases where it is connected to the connecting part 71 of the rotating body fixing part 70 or to the accessories described later.

[0037] Here, Figure 4 The figure shows a flatbed cart 6a as an example of a working device equipped with the cylindrical rotating body 10 of the first embodiment. Figure 4 (A) The flatbed 6a shown has four cylindrical rotating bodies 10 arranged at the vertices of a square or rectangle and a control device (not shown) on the bottom surface of the flatbed section (body) 80 for placing goods. The control device can individually drive the four cylindrical rotating bodies 10 that serve as wheels of the flatbed 6a, and can change direction by controlling the driving and stopping of each cylindrical rotating body 10. It should be noted that the number of cylindrical rotating bodies 10 arranged on the bottom surface of the flatbed section 81 is not limited to four; for example, it can be three, five, six, eight, or ten.

[0038] In addition, such as Figure 4As shown in (B), the rotating body assembly 1, which connects the two cylindrical rotating bodies 10 via the connecting member 2, can also be configured as the wheels of the flatbed 6b, thereby providing the rotating body assembly 1 with sufficient driving force. Since the connecting member 2 is flexible, it deforms when passing over uneven parts of the ground, thereby improving stability during movement. Furthermore, Figure 4 (B) The flatbed 6b shown includes sliding mechanisms 81a to 81c that allow each leg 82 to move horizontally, and telescopic mechanisms (e.g., telescopic cylinder 90 as shown in FIG27) provided between each leg 82 and each cylindrical rotating body 10. As a result, the relative position of the rotating body assembly 1 with respect to the flatbed 80 can be adjusted. In addition, such as Figure 4 As shown in (C), the structure can also be configured such that multiple turntables 83 are provided on the bottom surface of the flat section 80 of the flatbed 6c, and the cylindrical rotating body 10 or the rotating body assembly 1 is mounted on each turntable 83. This allows the flatbed 6c to move not only in the forward and backward direction, but also in any direction, such as the left and right direction. It should be noted that... Figure 4 In the flatbed 6a shown in (A), the leg 82 has a connecting part for connecting with the cylindrical rotating body 10, serving as a rotating body fixing component for fixing the cylindrical rotating body 10. Figure 1 The attached reference numeral 70) plays a role. Additionally, the leg 82 can be freely adjusted in the horizontal direction, such as... Figure 4 As shown in (B), it can also be connected to a rotating body assembly 1 composed of two or more cylindrical rotating bodies 10.

[0039] As described above, the cylindrical rotating body 10 of the first embodiment is a cylindrical rotating body with a built-in motor (11, 13), and has a first connecting portion 14 and a second connecting portion 15 that can be directly connected to another cylindrical rotating body, thereby allowing it to rotate integrally with another cylindrical rotating body 10. Thus, for example, as... Figure 4 As shown in (B), multiple cylindrical rotating bodies 10 can be connected to form a rotating body assembly 1, which can be used as a working device for a wheel. In the first embodiment, an example of... Figure 4 As shown in the flatbed truck, the cylindrical rotating body 10 is used as a wheel structure, but it is not limited to this structure. For example, it can also be configured such that the outer body 13 of the cylindrical rotating body 10 is connected to the wheel, and the rotating body assembly 1 rotates and moves by rotating the wheel.

[0040] Second Implementation Method Next, the cylindrical rotating body 10a of the second embodiment will be described. Figure 5This is a block diagram showing the structure of the cylindrical rotating body 10a according to the second embodiment. The cylindrical rotating body 10a of the second embodiment is telescopic in the length direction (i.e., it has a telescopic mechanism), and otherwise is constructed in the same way as the cylindrical rotating body 10 of the first embodiment.

[0041] In the second embodiment, the core 12a is composed of a first core 121 and a second core 122, which are nested. Spiral grooves (spiral surfaces) are formed on the surfaces of the first core 121 and the second core 122 that are in contact with each other. By rotating the second core 122 relative to the first core 121, the core 12a can be extended or retracted in the length direction.

[0042] In addition, such as Figure 5 As shown, the outer body 13a is composed of a first outer body 131 and a second outer body 132, which are nested. Like the core 12a, the outer body 13a has spiral grooves (spiral surfaces) formed on the surfaces of the first outer body 131 and the second outer body 132 that are in contact with each other. By rotating the second outer body 132 relative to the first outer body 131, the outer body 13a can be extended or retracted in the length direction.

[0043] It should be noted that in the second embodiment, by providing helical grooves on the first core 121 and the second core 122, as well as the first outer body 131 and the second outer body 132, a telescopic mechanism is formed that allows the core 12a and the outer body 13a to extend and retract in the length direction. This allows the cylindrical rotating body 10a to extend and retract in the length direction, but the telescopic mechanism is not limited to this structure. Furthermore, this embodiment illustrates the manual extension and retraction of the cylindrical rotating body 10a, but it is not limited to this structure. It can also be configured such that an actuator (e.g., a motor, hydraulic cylinder) for extending and retracting the cylindrical rotating body 10a constitutes the telescopic mechanism, automatically extending and retracting the cylindrical rotating body 10a. Figure 27 is a side view of the telescopic cylinder 90 connected to the rotating body assembly of the second embodiment. As shown in Figure 27, the cylinder barrel 96a of the telescopic control device 92, the accumulator 93, and the hydraulic cylinder 96 are arranged from top to bottom inside the cylinder body 91. In addition, a switch (not shown) is also built into the cylinder body 91. The hydraulic cylinder 96 includes a cylinder barrel 96a and a piston rod 96b, which is retractably inserted into the cylinder barrel 96a and protrudes from the cylindrical body 91, forming a nested structure. The space inside the cylinder barrel 96a is divided by the piston 96c of the piston rod 96b into a first oil chamber 96e for retracting the piston rod 96b and a second oil chamber 96f for extending the piston rod 96b. Accumulator 93 and oil chambers 96e and 96f are connected by piping, and valves are installed on these piping (the piping and valves are not shown in the figure). When a control signal is input from the telescopic control device 92 to the switching switch, the opening and closing of the valve is controlled by the switching switch. Thus, the supply and discharge of actuating oil (oil pressure) can be controlled between oil chambers 96e, 96f and accumulator 93 to regulate the extension of piston rod 96b. A threaded portion 94 is provided at the upper end of the cylindrical body 91, and a threaded portion 95 is provided at the lower end of the piston rod 96b. The threaded portions 94 and 95 are configured with the same diameter as the second connecting portion 15 of the cylindrical rotating body 10, as shown in FIG. 28, and can be tightened and connected to the first connecting portion 14 of the cylindrical rotating body 10. Thus, the cylindrical rotating body 10, to which the telescopic cylinder 90 is connected, is also included in the cylindrical rotating body having the telescopic mechanism described in this specification. Unlike the structure illustrated in FIG. 28, one or both of the threaded portions 94 and 95 may be configured as concave connecting portions with helical grooves (helical surfaces) formed on the inner surface, similar to the first connecting portion 14 of the cylindrical rotating body 10, and can be tightened with the second connecting portion 15 of the cylindrical rotating body 10.

[0044] As described above, the cylindrical rotating body 10a of the second embodiment is capable of extending and retracting in the length direction. Therefore, the cylindrical rotating body 10a can be adjusted to the length desired by the user and used.

[0045] Third Implementation Method Next, the cylindrical rotating body 10b of the third embodiment will be described. Figure 6 This is a block diagram showing the structure of the cylindrical rotating body 10b in the third embodiment. (As shown...) Figure 6 As shown, the cylindrical rotating body 10b of the third embodiment houses the battery 16, the control device 17, and the communication device 18 within the cylindrical rotating body 10b. Apart from this, it is constructed and operates in the same manner as the cylindrical rotating body 10 of the first embodiment.

[0046] Battery 16 is electrically connected to stator 11, control device 17, and communication device 18, supplying power to these components. It should be noted that battery 16 can be a rechargeable battery. In this case, it can be configured to be directly connected to a commercial power source or generator for power supply, or it can be configured to be wirelessly charged using known methods. Alternatively, it can be configured to receive power from a solar power generator, or it can be configured to receive power from a car battery.

[0047] The control device 17 comprises a microcomputer with a CPU (Central Processing Unit), ROM (Read-Only Memory), and RAM (Random-access Memory) (not shown), and controls the movement of the cylindrical rotating body 10 based on a movement program pre-stored in the ROM. Furthermore, the control device 17 can acquire movement programs input by the user from an external device (not shown) via a communication device 18 and store them in the RAM. Moreover, the control device 17 can also perform movement control based on the user's movement program stored in the RAM.

[0048] The communication device 18 is, for example, a wireless communication module capable of Bluetooth (a registered trademark), wireless LAN (Local Area Network), or wireless WAN (Wide Area Network) communication, one of the wireless communication standards. The communication device 18 receives signals such as walking programs input by the user from an external device (not shown) and transmits these signals to the control device 17. Thus, the movement of the cylindrical rotating body 10b can also be controlled remotely.

[0049] As described above, the cylindrical rotating body 10b of the third embodiment includes a battery 16. Therefore, the cylindrical rotating body 10b can rotate independently even without power supplied from an external source such as a fixed component. Furthermore, the cylindrical rotating body 10b of this embodiment includes a control device 17, which can control rotation based on a walking program input by the user and received from a communication device 18. Therefore, the cylindrical rotating body 10b and the rotating body assembly 1 formed therefrom can also be used as a toy car or as an educational toy for programming learning.

[0050] Fourth Implementation Method Next, the rotating body assembly 1a of the fourth embodiment will be described. Figure 7 This is a perspective view showing the structure of the rotating body assembly 1a according to the fourth embodiment. In the rotating body assembly 1a of the fourth embodiment, the cylindrical rotating bodies 10 are not directly connected to each other, but are connected via connecting members 20.

[0051] The connecting component 20 is a cylindrical component used to connect two or more cylindrical rotating bodies 10. In this embodiment, as... Figure 7 As shown, the connecting member 20 has a convex connecting portion 20a and a concave connecting portion 20b at both ends of the main body 21 for connecting with the first connecting portion 14 and the second connecting portion 15 of the cylindrical rotating body 10, respectively.

[0052] By connecting multiple cylindrical rotating bodies 10 using the connecting member 20, the multiple cylindrical rotating bodies 10 can be connected and rotated. Furthermore, the connecting member 20 is smaller than the cylindrical rotating bodies 10, and its length in the longitudinal direction is shorter than the length of the cylindrical rotating bodies 10. In other words, preferably, the diameter of the main body 21 is equal to or smaller than the diameter of the cylindrical rotating bodies 10.

[0053] It should be noted that the connecting member 20 has electrical contacts at the convex connecting portion 20a and the concave connecting portion 20b. Through these electrical contacts, power supplied by the cylindrical rotating body 10 connected to the power supply side can be supplied to the cylindrical rotating body 10 connected to the opposite side. Preferably, the connecting member 20 communicatively connects the cylindrical rotating bodies 10 connected via the connecting member 20. A motor that assists in the rotation of the motor of the cylindrical rotating body 10 can also be provided on the connecting member 20. From another perspective, the connecting member 20 can also be constructed from a short cylindrical rotating body 10 with a built-in motor mechanism.

[0054] Thus, in the rotating body assembly 1a of the fourth embodiment, the cylindrical rotating bodies 10 can be connected by the connecting member 20, so that multiple cylindrical rotating bodies 10 can rotate as a whole.

[0055] Fifth Implementation Method Next, the working device, namely the lifting device 100, which is equipped with the rotating body assembly 1b of the fifth embodiment, will be described. Figure 8 This diagram shows the state of the rotating body assembly 1b of the fifth embodiment before it is connected to the cylindrical rotating body 10. Figure 9 This is a diagram showing the state of the rotating body assembly 1b according to the fifth embodiment after connecting the cylindrical rotating body 10. In the rotating body assembly 1b of the fifth embodiment, the connecting member 22 has a shaft 23, as shown... Figure 8 and Figure 9 As shown, it can rotate around axis 23, and otherwise it is constructed and operates in the same manner as the rotating body assembly 1a of the fourth embodiment.

[0056] like Figure 8 As shown, the connecting member 22 has a shaft 23 at the center of the main body portions 21a and 21b. The shaft 23 is capable of rotating around one or more axes. Furthermore, similar to the fourth embodiment, the connecting member 22 can be connected to the connecting portions 14 and 15 of the cylindrical rotating body 10 at both ends, the connecting portions 22a and 22b. Moreover, in the fifth embodiment, the connecting member 22 has an actuator (not shown) for rotating around the shaft 23, which can rotate based on external control. It should be noted that such rotation control signal is configured, for example, via... Figure 1 The rotating body fixing component 70 and the cylindrical rotating body 10 are electrically transmitted from the outside to the connecting component 22.

[0057] Then, as Figure 9 As shown, by rotating the shaft 23 of the connecting member 22, the angle θ between the two cylindrical rotating bodies 10 (i.e., the main bodies 21a and 21b) can be less than 180°. Thus, for example, as shown in Figures 24(A) and (B), the rotating body assembly 1b can be designed as a hook (U-shaped or O-shaped (with a locking mechanism)) to form a working device 52 that moves while grasping an object, much like a human finger.

[0058] Here, a camera, processing device, and communication device can also be installed on the working device 52 for inspecting the wire W, damaged parts of the guide rail, and whether there are any obstructions on the guide rail. The connecting member 43 connecting the working device 52 and the rotating body assembly 1b can be of fixed length or can be a telescopic structure. In addition, in this case, except for the joint portion of the wire W, as shown in FIG24(B), the rotating body assembly 1b firmly grips the wire W. As shown in FIG24(C), a gap for avoiding the components can be created between the wire W and the rotating body assembly 1b at the joint portion of the wire W on which various components are installed. In addition, as shown in FIG24(A), the rotating body assembly 1b in front of the joint portion of the wire W can be moved away from the wire W among the multiple rotating body assemblies 1b arranged side by side in the traveling direction. It should be noted that in FIG24(B) and (C), the method of covering the entire outer periphery of the wire W is not shown, but of course, the method of covering the entire outer periphery of the wire W can be adopted.

[0059] Figure 24 illustrates a method of gripping the electrical wire W, but it could also be replaced by a wire rope, rebar, rod, etc. For example, as a method of gripping the wire rope, a safety belt or similar device could be installed instead of the working device 52 in Figure 24(A), serving as a zipline for reverse walking. Alternatively, a laser inspection device could be mounted on the working device 52, either as a substitute for a camera or together with a camera, to inspect roads, power lines, rails, structures, etc. It could also be configured so that these captured images can be viewed using a smartphone.

[0060] Figure 29 is a top view of a lifting device 100 having a cylindrical rotating body 10 with telescopic cylinders 90 connected to both ends. Although simplified in Figure 29, the telescopic cylinders 90 have the same structure as those in Figure 27. One end of each telescopic cylinder 90 is connected to the cylindrical rotating body 10, and the other end is connected to the connecting member 27, thereby forming a triangular space for gripping the columnar member P such as a rod. The connecting member 27 functions as a movable shaft that can change the angle formed by the two connected telescopic cylinders 90. In the lifting device 100 having the connecting member 27 and the telescopic cylinders 90, by making the length of the six telescopic cylinders 90 variable, even if the thickness of the columnar member P such as a rod is different, the contact with the columnar member P such as a rod can be maintained and the lifting action can be performed by changing the size of the triangular space. Therefore, even if the thickness of the columnar member P such as a rod varies in the length direction, such as natural wood or a telephone pole, the lifting action can be performed.

[0061] As described above, in the rotating body assembly 1b of the fifth embodiment, since the angle between the two cylindrical rotating bodies 10 can be set to less than 180°, for example, as shown in FIG24, the rotating body assembly 1b can grasp rope-like components such as ropes and wire ropes to elongated components W, and can rotate and move on ropes and wire ropes. Furthermore, by installing baskets, handles, hooks, etc., on such a rotating body assembly 1b, it can be used as a lift for transporting goods, people, robots, agricultural machinery, construction equipment, etc., along rope-like components. In the fifth embodiment, such as Figure 9 As shown, an example is illustrated where the connecting member 22 has an actuator that rotates the shaft 23, and the rotation of the connecting member 22 is controlled by an external control device. However, this structure is not limited to this one; for example, it could also be configured such that the connecting member 22 can be rotated manually. Furthermore, in the above embodiment, an example is illustrated where a power source (battery) or control device and communication device for rotating the motor is provided on the outer side of the rotating body fixing member 70 or the cylindrical rotating body 10 itself. However, it is also possible for the connecting member 20 to have a battery 16, a control device 17, and a communication device 18.

[0062] The Sixth Implementation Method Next, in the sixth embodiment, the robotic arm 101 and the rotating body assembly 101 with blades 103 mounted on the tips of the fingers constituting the robotic arm will be described. In the robotic arm 101 of the sixth embodiment shown in FIG. 10(A), each finger portion (110a-110e) has the same structure as the rotating body assembly 1b of the fifth embodiment, and the connecting members 120a3-120e2 disposed at the lower end are connected to five connecting parts provided on the back of the hand 102. The connecting members 120a3-120e2 have the same structure as the connecting member 27 and function as movable shafts that can change the angle formed by the two connected finger portions 110. In Figure 10(A), only the back of the robot's hand 102 is shown as the main body, but it can also be set as a structure where the back of the hand 102 is connected to the multi-axis robotic arm for operation, or it can be set as a structure connected to the robotic arm of the humanoid robot. Alternatively, the structure can be configured to allow the rotating body assembly 1b to be mounted on and detached from the back of the robotic hand of the humanoid robot, and, as needed, to be mounted on the robot. The finger portions (110a-110e) can be any number of parts, or a structure without a thumb (110e) can be used. Power and control signals for the movement of the rotating body assemblies 110a-110e, which serve as the finger portions of the robotic hand, are supplied from the back of the hand 102 side, thereby enabling the multiple cylindrical rotating bodies 110a1-120e2 constituting each finger of the robotic hand to rotate freely. Furthermore, the connecting parts 120a3 to 120e2 have actuators that rotate the movable shaft to adjust the angle of the finger portion 110. Based on the power supplied from the back of the hand 102 side and the control signal, the connecting parts 120a3 to 120e2 are rotated, thereby, as shown in FIG10(B), being able to freely perform actions such as grasping rope-like components R. The robot arm 101 can grasp the rope-like components R onto the rotating body assembly 1b, causing the robot itself equipped with the robot arm 101 to float off the ground and move over the rope-like components R. Alternatively, by adjusting the angles of the connecting parts 120a3 to 120e2, the robotic arm 101 can grasp weeds (for example, by clamping the weeds between the cylindrical rotating bodies 110, which are equivalent to the fingers of the robotic arm, or by clamping the weeds between the cylindrical rotating bodies 110 and the part of the robotic arm that is equivalent to the fingers and palm), and by rotating each cylindrical rotating body 110, the grasped weeds can be pulled up from the ground.

[0063] Figure 10(C) is a side view of the rotating body assembly 110 with the blade 103 mounted according to the sixth embodiment. The rotating body assembly 110 shown in Figure 10(C) can be used as the finger part of the robot arm 101 or as a single unit. The rotating body assembly 110 of the sixth embodiment has the blade 103 mounted at one end of the rotating body assembly 1b of the fifth embodiment, and the other end is mounted at the root 102. The connecting members 120d1 to 120d3 have the same structure as the connecting member 27 and function as a movable shaft that can change the angle formed by each cylindrical rotating body 110. Tools such as blades, sickles, claws, scissors, cutters, trimmers, mixer blades, screwdrivers, pliers, tweezers, soldering irons, welding torches, drill bits, and rebar hooks can be installed on the front end to perform actions or tasks such as digging (turning over soil), loosening soil, and piling soil. In the sixth embodiment, a cutting tool 103 can also be installed on the front end (the front end of the cylindrical rotating body 110d1 to 110d3), so that the cutting tool 103 can be rotated by the rotation of the cylindrical rotating body 110, and the roots of fruits and vegetables can be cut off with the cutting tool 103 to harvest the fruits and vegetables. Alternatively, instead of the exemplified cutting tool 103, tools such as sickles, claws, scissors, cutters, trimmers, mixer blades, screwdrivers, pliers, tweezers, soldering irons, welding torches, drill bits, and rebar hooks can be installed on the front end to perform actions or tasks such as digging (turning over soil), loosening soil, and piling soil. Alternatively, instead of the illustrated blade 103, a brush can be installed on the front end for cleaning operations, or a brush can be installed on the outer body of the cylindrical rotating body 110. Alternatively, a mixing device for powders, liquids, or pharmaceuticals (including traditional Chinese medicine) can be installed at the front end, or a device for kneading clay, flour, or bread dough can be installed. In this case, raised or recessed surfaces or mixing blades can be provided on the surface of the cylindrical rotating body 110. It should be noted that, for example, the angles of the connecting parts 120d1 to 120d3 can be adjusted according to instructions from the control unit provided on the root 102 side. In addition, by rotating the cylindrical rotating body 110, such a rotating assembly 101 can also perform actions such as touching plants and animals, and can also perform friction actions for processing workpieces (e.g., deburring, polishing / beveling).

[0064] The Seventh Implementation Method Next, the working device of the seventh embodiment will be described. Here, FIG11 is a diagram showing an example of the working device 4 of the seventh embodiment. The working device 4 is a walking body having two elongated strip connecting members 25a and 25b mounted on the bottom surface of the main body (not shown) and three cylindrical rotating bodies 10. As shown in FIG11, the plurality of cylindrical rotating bodies 10 are connected side by side at equal intervals in the short width direction of the cylindrical rotating bodies 10 by the strip connecting members 25a and 25b. For example, in the example shown in FIG11, the strip connecting members 25a and 25b have the same number of protruding connecting portions 26a and 26b as the number of cylindrical rotating bodies 10 to be connected. By connecting each cylindrical rotating body 10 to each protruding connecting portion 26a and 26b, the three cylindrical rotating bodies 10 can function as drive wheels. The strip connecting members 25a and 25b are connected to a power source (not shown) for supplying power to the cylindrical rotating bodies 10 provided on the main body and a control device (not shown) for transmitting control signals. Each of the protruding connecting parts 26a and 26b has an electrical contact, through which power can be supplied to each of the cylindrical rotating bodies 10.

[0065] As described above, in the working device 4 of the seventh embodiment, multiple cylindrical rotating bodies 10 can be connected side by side in the short width direction to make it move. Figure 12 is a diagram showing a modified example of the seventh embodiment of the working device 4'. In the working device 4', two cylindrical rotating bodies 10d are connected in a straight line via a connecting member 2. The cylindrical rotating bodies 10d are the same as the cylindrical rotating bodies 10 described above, but differ in that blades 19 are mounted on the outer peripheral surface of the outer body, and the lawn mowing mechanism 41 is formed by rotating the outer body. The connecting member 2 is flexible and deforms in accordance with the unevenness of the ground, thereby improving the grounding of the cylindrical rotating bodies 10d. The end of the cylindrical rotating body 10d that is not connected to the connecting member 2 is connected to the elongated connecting members 25a and 25b. The elongated connecting members 25a and 25b are connected to the flat plate portion 80, which is equipped with a power supply (not shown) and a control device (not shown) for transmitting control signals. The convex connecting parts 26a and 26b, indicated by dashed lines, electrically connect the mowing mechanism 41 to the power supply (not shown) and the control device (not shown). Six wheels 30 are installed on the outer surfaces of the elongated connecting members 25a and 25b at positions corresponding to the convex connecting parts 26a and 26b. The wheels 30 are connected to a drive device and can move by rotating the wheels 30. For example, wheels equipped with hub motors are preferably used for the wheels 30. A car can also be loaded onto the flat plate portion 80 of the working device 4' for transport. On rough roads with large bumps or mud, where cars cannot travel, the working device 4', which is resistant to rough roads, can also be used as a vehicle transport device in case of disaster.

[0066] By modifying its main body, the working device 4 can be used for other purposes. For example, in the rotating body assembly 1c, by passing flour, bread dough, etc., between the rotating cylindrical rotating bodies 10, it can be used as a kneading device for bread dough. Similarly, by passing clay, etc., between the rotating cylindrical rotating bodies 10, it can also be used as a kneading device for clay. Moreover, the rotating body assembly 1c can also be configured to allow one of the two long strip connecting parts 25a and 25b to be removed. Furthermore, by providing uneven surfaces on the cylindrical rotating bodies 10, it can also be used as a mixing device for powders or liquids, a sweeper for cleaning glass or floors, a cleaning device for rinsing tableware or food, a cleaning machine for washing vegetables, a fish scale removal device, or a massage device for the human body. In addition, as a structure that automatically starts rotating via an infrared sensor, it can be used as a safety device or a pest control device.

[0067] The Eighth Implementation Method Next, the mowing mechanism 41 and mowing device 40, which are composed of the rotating body assembly of the eighth embodiment, will be described. FIG13 is a diagram showing an example of a working device, namely the mowing device 40, equipped with the rotating body assembly of the eighth embodiment. As with FIG12, the cylindrical rotating body 10d of the eighth embodiment is shown as an example in which a blade 19 is mounted on the outer peripheral surface of the outer body 13, constituting a mowing mechanism.

[0068] Figure 13(A) is a perspective view of a mowing device 40 having a mowing mechanism composed of three cylindrical rotating bodies 10d. Figure 13(B) is a side view, Figure 13(C) is a top view, and Figure 13(D) is a side view of a modified example. As shown in Figure 13, by connecting multiple cylindrical rotating bodies 10d with blades 19, the rotating body assembly 1d can be used as a mowing mechanism, for example. As shown in Figure 13(D), each mowing mechanism can also be composed of multiple cylindrical rotating bodies 10d. The mowing device 40 has wheels 30 mounted at both ends of the rotating body assembly 1d, and is configured as an automatically walking working device by driving the wheels 30 with a wheel motor (not shown). In addition, by changing the size of the cylindrical rotating bodies 10d or the size of the blades 19 of the cylindrical rotating bodies 10d, the mowing device 40 can also be used as a tiller, a mower, or a harvester (especially a harvester of shrubs or small shrubs).

[0069] Figure 30 is a side view of the plow mechanism 48 constructed by mounting plow nails (34, 35) on the cylindrical rotating body 10h, and Figure 31 is a top view of the main parts of the plow mechanism 48. The plow mechanism 48 has multiple flanges 33 fixedly mounted on the outer casing 13 and multiple sets of left and right plow nails (34, 35). Each flange 33 has multiple through holes 38 for inserting bolts B. Multiple sets of left and right plow nails (34, 35) are freely fixed and detached using bolts B and nuts N. Each left and right plow nail (34, 35) has a mounting base 36 with bolt insertion holes 37. Bolts B are inserted into the bolt insertion holes 37 and the through holes 38, and are fixed by nuts N. The outer casing 13 can have any number of flanges 33, and the number of left and right plow nails (34, 35) mounted on the flanges 33 is not limited to the three sets shown. Figure 32(A) is a side view of the connected cylindrical rotating body 10h, and Figure 32(B) is a side view of the connector 57. It should be noted that the flange 33 provided on the outer body 13 is omitted in Figure 32. End flanges 39 are provided at both ends of the cylindrical rotating body 10h, and the end flanges 39 are connected and fixed freely by means of connectors 57. The connector 57 is an annular component with a hinge 58, which can open / close the upper piece 57a and the lower piece 57b with the hinge 58 as the center. On the inner periphery of the upper piece 57a and the lower piece 57b, there are grooves for receiving a pair of end flanges 39, 39, which can fix the upper piece 57a and the lower piece 57b in the closed state by a locking member (not shown). The left and right plow nails (34, 35) can be replaced for weeding operations in paddy fields or dry fields. When weeding in paddy fields, a float can also be connected to the cylindrical rotating body 10h.

[0070] Furthermore, for weeding operations in paddy fields or dry fields where seedlings or ears of rice are planted at fixed intervals, a structure with a support post 24 and connecting rods 28a and 28b can be provided, for example, as shown in Figures 13(A) to 13(C). In this case, by setting the height of the connecting rods 28a and 28b higher than the height of the cultivated plants, and by having the cylindrical rotating body 10d with blades 19 rotate and move along the path between the cultivated plants, the cylindrical rotating body 10d can remove weeds and other plants growing between the cultivated plants. In this way, by adjusting the height of the support post 24 to set the height of the connecting rods 28a and 28b higher than the height of the cultivated plants, it is possible to prevent the connecting rods 28a and 28b from touching the cultivated plants. In addition, in the example shown in Figure 13(B), the support post 24 extending in the height direction is a simple rod-shaped component, but it can also be composed of a cylindrical rotating body 10 or a telescopic cylinder 90, which constitute part or all of the support post 24. Figure 13(D) shows a modified example where the distance between wheels 30, 30 in the width direction can be automatically adjusted by a telescopic cylindrical mechanism a provided on the connecting member 28a. Furthermore, in the modified example of Figure 13(D), in order for the telescopic mechanism 90b provided on the support column 24 to automatically extend and retract, the height of the support column can be adjusted by extending and retracting the telescopic cylinder 90b according to the unevenness of the ground. Here, the telescopic cylinders 90a and 90b have the same structure as the telescopic cylinder described in Figure 27. Alternatively, a telescopic mechanism that extends and retracts in the horizontal direction (e.g., the telescopic cylinder 90 described in Figure 27) can be provided on the connecting member 28b orthogonal to the cylindrical rotating body 10d, and the distance between wheels 30, 30 in the forward and backward direction (forward and backward direction) can be automatically adjusted by a control device (not shown).

[0071] Furthermore, as shown in Figure 14(A), a mowing device (agricultural vehicle) 40 can also be manufactured with cylindrical rotating bodies 10d and 10e mounted on the ridges 45. That is, the mowing device 40 can be configured to have a cylindrical rotating body 10d that mows grass in the groove between the ridges 45 and a cylindrical rotating body 10e that mows grass and forms ridges at an incline of the ridges 45. The cylindrical rotating body 10d has an outer casing 13 with a blade 19 for mowing, and is disposed below the bases 49a to 49c. The bases 49a to 49c are connected to the supports 42a to 42c. A turntable can also be provided on the bases 49a to 49c, making the bases 49a to 49c rotatable relative to the supports 42a to 42c. With this structure, it is possible to move not only longitudinally but also in an inclined and lateral direction.

[0072] The cylindrical rotating body 10e, which abuts against the slope of the ridge 45, has the same blade 19 as the cylindrical rotating body 10d. Its angle relative to the connecting rods 44a-44c can be changed via the connecting member 27. For example, in Figure 14, the cylindrical rotating body 10e located to the left of the mowing mechanism 41c is lifted by the connecting member 27 so as not to abut against the top of the ridge 45. The connecting member 27 is, for example, a ball joint, and the angle formed by the two connected cylindrical rotating bodies 10e can be changed via an actuator such as a motor (not shown), based on the control device of the mowing device 40 (not shown), or from external control. In this way, the position of the cylindrical rotating body 10e relative to the ridge 45 can be changed, so that, for example, when crops are planted on top of the ridge 45, weeding operations can be performed while avoiding the crops. It should be noted that when the ridge 45 is formed while it is tilted, the cylindrical rotating body 10e can be configured without the blade 19. Furthermore, in the example shown in Figure 14, the cylindrical rotating body 10e is arranged facing each other on two inclined surfaces of the ridge 45, but this is not a limitation; it is also possible to arrange the cylindrical rotating body 10e facing each other only on one inclined surface of the ridge 45. Figure 14 illustrates a structure connecting three mowing mechanisms 41a to 41c, but the number of connections is not limited to the illustrated three; it could be two or more. As shown in Figure 13(C), the mowing mechanism 41 can also be configured in a matrix (n rows and m columns).

[0073] The connecting rods 44a-44c of the mowing mechanisms 41a-41c can move up and down along the supports 42a-42c. The cylindrical rotating body 10e can be moved up and down or its angle relative to the ridge 45 can be changed via operator button operation or automatic control. This allows the mechanism to avoid crops even when they are planted on the ridge 45. Alternatively, object detection sensors such as photoelectric sensors can be installed on the mowing mechanisms 41a-41c and the supports 42a-42c to automatically move the cylindrical rotating body 10e up and down or change its angle relative to the ridge 45. The cylindrical rotating body 10e can also be connected to both ends of the cylindrical rotating body 10d. As shown in Figure 14(B), the connecting rod 44d can also be configured with multiple horizontally telescopic mechanisms (e.g., the telescopic cylinder 90 shown in Figure 27) to adjust the distance between the cylindrical rotating bodies 10d, 10d, and 10d. Alternatively, the control device (not shown) can automatically adjust the distance between the mowing mechanisms 41a to 41c by detecting the position of the ridge 45 using the aforementioned object detection sensor.

[0074] Figure 14(C) is a front view of the modified mowing mechanism 41'. The modified mowing mechanism 41' is a structure consisting of cylindrical rotating bodies 10d, 10d connected in a row with flexible connecting parts 2. The cylindrical rotating bodies 10d, 10d are pressed onto the ground, and the connecting parts 2 deform according to the unevenness of the ground, thereby improving the grounding performance. In addition, the base 49 is connected to the connecting parts 27, 27 via telescopic cylinders 90, 90 provided on both sides. The telescopic cylinders 90, 90 can be extended or retracted by the control device of the mowing device 40 (not shown) or by external control, thereby adjusting the angle of the cylindrical rotating bodies 10d, 10d. The modified mowing mechanism 41' is suitable for cases where the recess between the rows 45 has a generally triangular cross-section. Furthermore, even when the depth of the recess varies, a consistently high grounding performance can be obtained by extending or retracting the telescopic cylinders 90, 90. As described above, in the eighth embodiment, by providing a structure with a blade 19 on a cylindrical rotating body 10d, an agricultural implement (agricultural work vehicle) can be constructed using a rotating body assembly.

[0075] Ninth Implementation Method Next, the rotating body assembly 1g of the ninth embodiment will be described. Here, FIG15 is a diagram showing an example of an agricultural work vehicle (implementation machine) 5 equipped with the rotating body assembly 1g of the ninth embodiment. The agricultural work vehicle (implementation machine) 5 of the ninth embodiment has three types of cylindrical rotating bodies 10d, 10g1, and 10g2, and multiple cylindrical rotating bodies 10d, 10g1, and 10g2 are connected in the length and width directions of the rotating bodies via elongated connecting members 25a and 25b. The three connecting members 2a to 2c connecting the cylindrical rotating bodies 10d, 10g1, and 10g2 to each other are flexible and deform in accordance with the unevenness of the ground. Two wheels 30 are provided on each side of the elongated connecting members 25a and 25b, which can receive power from a power source provided on the main body (not shown) and move automatically via the wheels 30. Alternatively, the cylindrical connecting parts 2a to 2c may be provided with a telescopic mechanism that extends and retracts in the horizontal direction (e.g., the telescopic cylinder 90 shown in FIG. 27), and the distance between the wheels 30, 30 may be automatically adjusted by a control device (not shown).

[0076] Similar to the eighth embodiment, the cylindrical rotating body 10d has blades 19 on its surface and functions as a mowing mechanism 41. The cylindrical rotating body 10g1 has an on / off valve (on / off inlet) for placing plant seeds into the cylindrical rotating body 10g1, a seed storage chamber for collecting seeds, and an on / off outlet for sowing seeds in the storage chamber, and functions as a sowing mechanism 46. Additionally, the cylindrical rotating body 10g2 has an on / off valve for drawing water into the cylindrical rotating body 10g2 and an opening (outlet) for sowing water, and functions as a watering mechanism 47. A hose or similar device can be externally connected to the watering mechanism 47 to supply water while watering. Thus, the agricultural implement 5 equipped with the rotating body assembly 1g can simultaneously perform tilling, sowing, and watering while moving.

[0077] It should be noted that Figure 15 illustrates an agricultural implement that simultaneously performs tillage, sowing, and watering, but it is not limited to this structure. By equipping each cylindrical rotating body with multiple functions, agricultural implements that can perform various actions simultaneously can be constructed. For example, it can also be configured to use the watering mechanism 47 instead of water to spread disinfectant, fertilizer, herbicide, pollen (for pollination operations, etc.).

[0078] The Tenth Implementation Method Next, the tenth embodiment will be described. Here, FIG16(A) is a diagram showing an example of a working device 3 having a cylindrical rotating body 10, FIG16(B) is a diagram showing an example of a working device 3a having a rotating body assembly 1e, and FIG16(C) is a diagram showing an example of a working device 3b having a rotating body assembly 1f having a curved portion. As shown in FIG16(A), (B), and (C), the working devices 3, 3a, and 3b of the tenth embodiment are composed of a root (lower part of the bag) 31 and a cylindrical rotating body 10 or a rotating body assembly 1. In addition, the root 31, which has a truncated conical internal space (hole), can be fitted onto a person's finger and functions as a finger sleeve designed according to the size of each finger. In addition, the front end of the working device 3 becomes a cylindrical rotating body 10 or a rotating body assembly 1. The working device 3b has a curved portion composed of a movable connecting member 27. The power supplied to the working device 3 can also be supplied by a battery installed at the base 31, or it can be configured to be directly powered from commercial power sources or the like via a power cable.

[0079] The operating devices 3, 3a, and 3b can be used, for example, as follows: For instance, by attaching a cloth for wiping dirt to the outer periphery of the outer body 13 of the cylindrical rotating body 10, they can be used as hygiene tools for wiping the human body, especially the oral cavity. Additionally, by attaching a brush for removing dirt to the outer periphery of the outer body 13 of the cylindrical rotating body 10, they can also be used as toothbrushes; particularly according to operating device 3b, the front and back surfaces of the teeth T can be brushed simultaneously (and the gums are brushed at the same time) by the rotating body assembly 1f. Furthermore, by attaching a drilling blade to the end of the outer body 13 of the cylindrical rotating body 10, they can also be used as drill bits. Furthermore, a spoon can be attached to the front end of the operating device 3 to help people requiring care eat. Additionally, by equipping the operating device 3 with a known suction mechanism for suctioning phlegm from the throat, phlegm from the person being cared for can be easily suctioned out. By covering the surface of the outer body 13 of the cylindrical rotating body 10 with an elastomer such as rubber, the operating device 3 can also be used for applying medication.

[0080] As described above, the working devices 3, 3a, and 3b of the tenth embodiment have a cylindrical rotating body 10 or a rotating body assembly 1 installed at their front ends, thereby making them suitable for hygiene maintenance and care. It should be noted that in the above example, a structure for use as a finger sleeve embedded in the front end of the finger is illustrated, but it is not limited to a finger sleeve. For example, it may also be configured such that the cylindrical rotating body 10 or the rotating body assembly 1 is installed at the fingertip of a glove via the root 31.

[0081] Eleventh Implementation Method Next, the rotating body assembly 1h according to the eleventh embodiment will be described. FIG17(A) is a diagram showing the connecting member 50 constituting the rotating body assembly 1h of the eleventh embodiment, and FIG17(B) is a diagram showing the rotating body assembly 1h of the eleventh embodiment. The rotating body assembly 1h of the eleventh embodiment includes the connecting member 50, and otherwise is constructed and operates in the same manner as the rotating body assembly 1 of the first embodiment.

[0082] As shown in Figure 17(A), the connecting member 50 is a cube with multiple convex connecting portions 50a and concave connecting portions 50b. It should be noted that in the example shown in Figure 17, a structure is illustrated where convex connecting portions 50a are present on three of the six faces of the cube, and concave connecting portions 50b are present on the remaining three faces. However, this structure is not limited to this, and the number of convex connecting portions 50a and concave connecting portions 50b can be appropriately varied. Furthermore, while a cube is used to illustrate the connecting member 50 in this embodiment, it is not limited to this structure and could also be a cuboid. Moreover, it is not limited to a hexahedron; it could also be a pentahedron, tetrahedron, heptahedron, or more. Additionally, it could be a sphere.

[0083] Figure 17(B) illustrates a structure for connecting a cylindrical rotating body 10 to the connecting member 50 shown in Figure 17(A). The connecting member 50 shown in Figure 17(A) can connect up to six cylindrical rotating bodies 10. It should be noted that in Figure 17(B), the concave connecting portion 50b of the connecting member 50 is connected to the cylindrical rotating body 10 via the connecting member 20, but it can also be configured to be directly connected to the cylindrical rotating body 10. In this embodiment, the convex connecting portion 50a and the concave connecting portion 50b are fixedly connected to the cylindrical rotating body 10, but it can also be configured like a ball joint, allowing the mounting angle of the cylindrical rotating body 10 to be movable.

[0084] In this way, various shapes can be achieved by connecting multiple cylindrical rotating bodies 10 via connecting member 50. For example, as shown in FIG18(A), a rotating body assembly 1i composed of cylindrical rotating bodies 10 arranged in a two-dimensional shape or a rotating body assembly 1j composed of cylindrical rotating bodies 10 arranged in a three-dimensional shape can be constructed. Four wheels 30 are provided on the lower surface of the rotating body assembly 1j. These wheels 30 can also be replaced by a road roller, a track, or the cylindrical rotating bodies 10 can be used as wheels without the wheels 30. In addition, as shown in FIG18(B), when the cylindrical rotating bodies 10 are arranged in a three-dimensional shape, the height of the rotating body assembly 1j can be adjusted by extending and retracting the cylindrical rotating bodies 10 extending in the height direction.

[0085] Alternatively, as shown in Figure 18(B), a rotating body assembly 1j formed by connecting multiple cylindrical rotating bodies 10 in a three-dimensional shape can also be used as a pallet (a loading platform for placing goods in logistics). Alternatively, a basket (box) can be arranged within the frame of the multiple cylindrical rotating bodies 10, serving as a device for automatically performing harvesting operations by rotating the uppermost cylindrical rotating body 10. Furthermore, although not shown, by installing the rotating body assembly 1i on the lower surface of a regular pallet, it can also be used as an automatically moving pallet. In this case, the multiple cylindrical rotating bodies 10 can be configured to be housed within the pallet when stationary, and unfolded from the pallet only when moving. It should be noted that pallets using multiple cylindrical rotating bodies 10 are preferably designed to be stacked on top of each other.

[0086] Alternatively, as shown in Figure 18(C), a car can also be mounted on the rotating assembly 1j. When mounting a car, a plate can be provided on the upper surface of the rotating assembly 1j, and cylindrical rotating bodies 10 can be arranged with a narrow gap sufficient to accommodate car tires. The rotating assembly 1j can also be powered by the car's battery. The rotating assembly 1j can also be waterproof, allowing the car to move without being submerged in floodwaters.

[0087] Thus, in the rotating body assemblies 1h to 1j of the eleventh embodiment, by using connecting members 50 having connecting portions on multiple surfaces, as shown in Figures 18(A) and (B), the user can freely assemble the rotating body assemblies 1h to 1j to form a working device. If the working device is constructed in a small size, it can also be played with as a toy car by assembling the rotating body assemblies 1h to 1j into blocks. Furthermore, the cylindrical rotating bodies 10 can be assembled into blocks according to the user's purpose to form a rotating body assembly. It should be noted that the connecting member 50 is merely one example; any shape of connecting member can be used as long as it allows the cylindrical rotating bodies 10 to be assembled into blocks.

[0088] Twelfth Implementation Method Next, the working device 60 equipped with the rotating body assembly 1k of the twelfth embodiment will be described. FIG19 is a diagram showing an example of the rotating body assembly 1k of the twelfth embodiment. In the example shown in FIG19, the working device 60 that can be used as a pruning machine for symmetrically trimming trees in Western gardens, etc., using the rotating body assembly 1k will be described.

[0089] As shown in Figure 19, the working device 60 of the twelfth embodiment connects multiple cylindrical rotating bodies 10 in a straight line, and the upper part is stabilized by a slender component R such as a rope and guide rail, and a turntable 63, forming a triangular arch frame. The main body 61, equipped with multiple pulleys 62, can move along the slender component R. The main body 61 and the rotating body assembly 1k are connected via the turntable 63, a height adjustment device 64, and an opening adjustment device 65. The height of the opening adjustment device 65 can be adjusted by adjusting the amount of wire rope wound by the height adjustment device 64. In the illustrated example, the height adjustment device 64 is composed of two winches, but it can also be one or more. In addition, the height adjustment device 64 can also be composed of a device other than a winch (for example, the telescopic cylinder shown in Figure 27). The opening adjustment device 65 is equipped with a drive device that can adjust the opening and closing angle of the left and right sides of the pruning mechanism 66 composed of two rotating body assemblies 1k. Each side of the pruning mechanism 66 is composed of rotating body assemblies 1k. The number of cylindrical rotating bodies 10 constituting the rotating body assembly 1k is not limited to the four illustrated examples; it can be one or more. The lower end of the rotating body assembly 1k in contact with the ground is connected to a caster platform 67 with wheels 30 via a movable connecting member 27. The wheels 30 may be auxiliary wheels not connected to a drive source, or they may be wheels connected to a drive source and capable of automatic movement. The rotating body assembly 1k can also be rotated by rotating the turntable 61. The working device 60 of the twelfth embodiment is provided with a telescopic mechanism 90 that extends and retracts along its length (for example, the same mechanism as the telescopic cylinder 90 shown in FIG. 27), the length of which can be automatically adjusted by a control device (not shown) according to the opening degree adjustment device 65. Blades 19 are mounted on the outer casing 13 of each cylindrical rotating body 10 that constitutes the rotating body assembly 1k. Moreover, by rotating the rotating body assembly 1k around the center line L so that the trajectory of the wheel 30 forms a circle, excess branches of the tree surrounded by the rotating body assembly 1k can be removed, and the tree can be trimmed into a conical shape.

[0090] As described above, in the rotating body assembly 1k of the twelfth embodiment, a device for pruning trees can be made by connecting multiple cylindrical rotating bodies 10 to form a triangular arch frame. It should be noted that in the example shown in FIG19, the rotating body assembly 1k is configured as a triangular arch frame, but it is not limited to this shape; for example, it could be a mountain-shaped arch, a "ko"-shaped arch, a trapezoid, or a rectangle. In other words, a "ko"-shaped pruning mechanism can also be constructed by making the opening adjustment device 65 relatively long and by providing a cylindrical rotating body or rotating body assembly with a horizontally extending blade 19 mounted below the opening adjustment device 65. With the working device equipped with the "ko"-shaped pruning mechanism, pruning operations on fences and grape trellises with rectangular cross-sections can be performed effectively. Alternatively, instead of having casters with wheels 30 at the lower end, a structure can be provided that has a turntable that rotates the rotating body assembly 1k. Alternatively, a structure can be provided that has a cylindrical rotating body or rotating body assembly as a drive wheel instead of wheels 30.

[0091] Figure 67(A) is a side view illustrating a first posture of the working device 160 according to a modified example of the twelfth embodiment, and Figure 67(B) is a side view illustrating a second posture. The cylindrical rotating bodies 10 constituting the rotating body assembly 1k of the working device 160 are connected via movable connecting members 27. Therefore, by connecting via the connecting members 27, the angles between the cylindrical rotating bodies 10 can be made variable. For example, as shown in Figure 67(B), each cylindrical rotating body 10 can be configured in a serrated shape. Furthermore, the operating device 160 can move the main body 161a, 161b, pulleys 162a, 162b, height adjustment devices 164a, 164b, and opening adjustment devices 165a, 165b along the opening and closing guide rails 163a, 16b. Therefore, for example, the main body 161a, 161b, etc., can be moved along the separation direction from the closed position shown in FIG. 67(A) to the open position shown in FIG. 67(B). The working device 160 with such a structure can trim trees into various shapes by separating the main body parts 161a, 161b, etc., or by making the angles between the cylindrical rotating bodies 10 variable. It should be noted that the pulleys 162a, 162b can also be replaced with the cylindrical rotating bodies 10.

[0092] Thirteenth Implementation Method Next, flatbed carts 80a and 80b equipped with the cylindrical rotating body 10 of the thirteenth embodiment will be described.

[0093] Figure 20(A) is a front view of a flatbed 8a with a cylindrical rotating body 10 mounted below the flatbed section 81 of the flatbed 8a having multiple wheels 30, via a telescopic cylinder 90 and wheel fixing members 84. When the telescopic cylinder 90 extends, the wheels 30 and the cylindrical rotating body 10 are grounded; when the telescopic cylinder 90 retracts, only the wheels 30 are grounded. A power supply device can also be provided on the flatbed 8a to supply power to the cylindrical rotating body 10. In this case, the power supply device of the flatbed 8a can also be equipped with a battery that can be charged from commercial power sources, solar panels, etc., or a battery that can be charged via radio waves. It should be noted that Figure 20(A) illustrates one case of the cylindrical rotating body 10, but a structure in which multiple cylindrical rotating bodies 10 are mounted can also be provided. In this way, by providing a structure in which the cylindrical rotating bodies 10 are mounted below the flatbed 8a, the movement of the flatbed 8a can be assisted, and tipping over can be prevented. Furthermore, by providing protrusions at constant intervals on the outer casing 13 of the cylindrical rotating body 10, the flatbed cart can be further assisted in traveling on uneven ground and other terrains, preventing tipping. Additionally, by installing blades 19 (not shown) on the outer casing 13 of the cylindrical rotating body 10, a flatbed cart capable of both transporting goods and weeding can be constructed. The legs, consisting of the telescopic cylinder 90 and wheel fixing members 84, are telescopic, and the height of the cylindrical rotating body 10 can be adjusted according to the walking environment of the flatbed cart 80b. The cylindrical rotating body 10 can also be used as a device for applying sheets made of resin film (e.g., a multi-row seeder). For example, it can be used for automatically laying weeding sheets, agricultural sheets (multiple sheets), and sheets for covering tennis courts or golf courses.

[0094] Figure 20(B) shows a front view of a flatbed 8b in which a telescopic cylinder 90a is connected to a wheel support 85 that connects the wheels 30 and the flatbed section 80. The distance (height of the flatbed 8b) between the flatbed section 80 and the wheels 30 can be freely changed by extending and retracting the telescopic cylinder 90a. Unlike the figure shown, a structure connecting multiple wheel supports 85 and telescopic cylinders 90a can also be provided. Furthermore, in the structure shown in Figure 20(B), similar to the example shown in Figure 20(A), a cylindrical rotating body 10 is provided below the flatbed section 80 of the flatbed 8b to assist in the movement of the flatbed 8b and prevent tipping. The rotating body support 86 is connected to the telescopic cylinder 90b and is connected to the cylindrical rotating body 10, which is horizontally positioned below the flatbed 8b, via a connecting member 50. Thus, by extending and retracting the telescopic cylinder 90b, the height of the cylindrical rotating body 10 below the flatbed 8b above the ground can be changed. Furthermore, since the height of the cylindrical rotating body 10 below the flatbed 8b from the ground can be changed, the length and size of the claws (protrusions) and blades mounted on the cylindrical rotating body 10 below the flatbed 8b can also be modified. It should be noted that brushes, rollers (for sweeping / painting), or other components can be installed on the cylindrical rotating body 10 at the bottom of the flatbed 8b instead of the claws and blades. Additionally, a road roller or tracks can be installed instead of the wheels 30.

[0095] As shown in Figure 20(C), a structure can also be adopted in which a cylindrical rotating body 10 equipped with drive wheels 30 is connected to a telescopic cylinder 90a via a connecting member 59. The flatbed 8c has telescopic cylinders 90c on both sides of the flatbed section 80, allowing adjustment of the distance between the opposing wheels 30 in the width direction. The flatbed 8c can be configured to have two or more wheels 30. For example, as shown in Figure 21, it can also be configured as a three-wheel mechanism with wheels 30a to 30c arranged on axles 29a to 29c extending radially from the connecting member 20. In this structure, since a first position where wheels 30a and 30b are on the ground, a second position where wheels 30c and 30a are on the ground, and a third position where wheels 30c and 30b are on the ground are obtainable, it is also possible to climb steps. By placing a basket between the two opposing three-wheel mechanisms, it can be used as a handcart. Wheels 30a to 30c are preferably wheels equipped with hub motors. Alternatively, three cylindrical rotating bodies 10 can be respectively mounted on shafts 29a to 29c to replace wheels 30a to 30c. With such a structure, for example, it can be used for cleaning stair sections. Alternatively, telescopic mechanisms 90a to 90c (e.g., telescopic cylinder 90 as shown in FIG. 27) can be provided on shafts 29a to 29c. In this case, the height difference can be absorbed by automatically extending and retracting the telescopic mechanisms 90a to 90c.

[0096] Fourteenth Implementation Method Next, the working device, namely the conveying device 153, which is equipped with the cylindrical rotating body 10 according to the fourteenth embodiment will be described. FIG22(A) is a side view of the conveying device 153 equipped with the cylindrical rotating body 10 according to the fourteenth embodiment.

[0097] As shown in Figure 22(A), in the fourteenth embodiment, pulleys 62a and 62b with grooves corresponding to the thickness of ropes R1 and R2 are connected to both ends of the cylindrical rotating body 10. Furthermore, the structure is configured such that the grooves of the two ropes R1 and R2 and the pulleys 62a and 62b are engaged, allowing the cylindrical rotating body 10 to rotate and travel along the two ropes R1 and R2. Additionally, by suspending the two ropes R1 and R2 in a vertical or inclined direction and gripping them with gripping mechanisms installed at both ends of the cylindrical rotating body 10, the cylindrical rotating body 10 can also rotate and travel in a vertical or inclined direction. In this embodiment, a structure is disclosed where a cylindrical rotating body 10 is erected between the two ropes R1 and R2. However, unlike this, as shown in Figure 22(B), multiple cylindrical rotating bodies 10 connected via flexible connecting members 2 can also be erected between the two ropes R1 and R2. The number of cylindrical rotating bodies 10 connected via the connecting member 2 is not limited to the illustrated number; there may be two or more. In the modified work apparatus 153 shown in FIG22(B), the flexible connecting member 2 deforms and absorbs swaying during walking, thus improving stability during walking. Furthermore, in the modified work apparatus 153 shown in FIG22(B), since telescopic mechanisms 90a and 90b (e.g., telescopic cylinder 90 as shown in FIG27) are provided between the pulleys 62a and 62b and the cylindrical rotating bodies 10, stability during walking can be improved by telescopic mechanisms 90a and 90b extending or retracting even when the distance between ropes R1 and R2 changes.

[0098] Fifteenth Implementation Method Next, the working device, namely the traveling device 54, equipped with the cylindrical rotating body 10 of the fifteenth embodiment will be described. FIG23(A) is a top view of the traveling device 54 equipped with the cylindrical rotating body 10 of the fifteenth embodiment, and FIG23(B) is a top view of a modified example of FIG23(A).

[0099] As shown in Figure 23(A), multiple cylindrical rotating bodies 10 can be connected to the main body 55 like centipede legs to form a walking device 54. In this case, the main body 55 can be equipped with a battery 16 and a control device 17, and control signals and power can be supplied from the main body 55 to each cylindrical rotating body 10 via a movable connecting member 27. Furthermore, the main body 55 has multiple connection points with the connecting member 20, allowing the cylindrical rotating bodies 10 to be freely attached and detached. Here, as shown in Figure 23(B), a rotating assembly 1 composed of multiple cylindrical rotating bodies 10 connected in a row via the connecting member 27 can also be connected to the main body 55 via the connecting member 27. Alternatively, a structure can be configured such that the cylindrical rotating bodies 10 or the rotating assembly 1 can be freely attached and detached from the main body 55 without using the connecting member 27. The walking device 54 can also be configured to a size suitable for use as a toy car.

[0100] Sixteenth Implementation Method As shown in FIG35, the working device 203a of the sixteenth embodiment is configured to include a body 204, a handle 205, cylindrical rotating bodies 210a to 210b, connecting parts 220a to 220b, and front end parts 221a to 221b. The cylindrical rotating bodies 210a and 210b have a large amount of wool material 213 (not shown in Figure 35) planted on their surface, allowing for brushing by rotating the cylindrical rotating bodies 210a and 210b. The main body 204, which connects to the connecting parts 220a and 220b, is a rod-shaped component made of a flexible material such as resin. A through hole for inserting a suction tube or the like can also be provided on the main body 204, allowing saliva or phlegm to be suctioned from the throat. Alternatively, the body 204 can be composed of a cylindrical rotating body with a large amount of hair material implanted on its surface. In this case, since the tooth T is brushed while surrounded by the cylindrical rotating bodies 210a to 210b and the body 204, the surface, end face and back face of the tooth T can be brushed at the same time.

[0101] A front end component 221a-221b made of an elastomer such as rubber is installed at the front end of the cylindrical rotating bodies 210a-210b to prevent damage to the gums during brushing. Alternatively, an ultrasonic transducer may be provided in the cylindrical rotating bodies 210a-210b or the front end component 221a-221b to remove plaque using sound wave vibration. The angle of the cylindrical rotating bodies 210a-210b, mounted on the connecting parts 220a-220b, relative to the body 204 (or handle 205) can be adjusted. Therefore, bristle materials (brushes) can be... Use the Bass brushing technique by bringing the bristles of the 213 brush to a 45-degree angle at the junction of the gums and teeth, or use the brushing technique by bringing the bristles of the 213 brush perpendicular to the teeth. A protective member 231 is connected to the handle 205 via a connecting member 230. The protective member 231 is made of, for example, a flexible resin material to prevent the bristle material (brush) 213 from contacting the inside of the lips and causing skin injury. A suction mechanism may also be provided in the protective member 231, allowing saliva or phlegm to be suctioned from the throat. A protective member 232, identical to the protective member 231, is provided on the connecting member 220a. Power can be supplied to the working device 203a via a battery mounted on the main body 204 or the handle 205, or it can be supplied directly from a commercial power source via a power cable. In the battery-mounted configuration, charging can be performed using known charging methods (including radio wave-based wireless charging). Alternatively, a solar panel can be mounted on the handle 205 for power supply. The handle 205 can be detached from the main body 204, or it can be configured to allow replacement of the device and main body 204 in the embodiments described later. Alternatively, the handle 205 can function as the main body 204 without a separate main body 204 (using a connecting member that also serves as connecting members 220a and 220b).

[0102] Cylindrical rotating bodies 210a to 210b can have the same structure as the cylindrical rotating body 10 described above. Alternatively, as shown in FIG36, the cylindrical rotating body 210 can be configured to include a drive unit 211 and a rotating unit 212. The drive unit 211 houses a motor 240 that rotates the rotating shaft 241. The rotating shaft 241 extends outward from the bearing 242, and its end is connected to a fixing member 251 of the rotating unit 212. The fixing member 251 is fixed to the outer casing 252, and when the fixing member 251 rotates due to the rotation of the motor 240, the outer casing 252 also rotates. The motor 240 can also be a hollow motor; in this case, since the rotating body 241 has a through hole, a suction tube, a fiber optic camera with a light, etc., can be inserted into the through hole. According to the structure that allows the suction tube to be inserted through the through hole, a suction port can be provided on the front end parts 221a to 221b to suction out saliva or phlegm. According to the structure that allows the insertion of a fiber optic camera with a light, it is also possible to take pictures of the inside of the oral cavity and confirm the images taken by a smartphone or the like.

[0103] Alternatively, as shown in Figure 37, the working device 203b can also be configured as having upwardly extending cylindrical rotating bodies 210a to 210d. The cylindrical rotating bodies 210a to 210b are mounted so as to be movable relative to the connecting member 220a, and the cylindrical rotating bodies 210c to 210d are mounted so as to be movable relative to the connecting member 220b, and their angle relative to the body 204 (or handle 205) can be adjusted. With the working device 203b, both upper and lower teeth can be brushed simultaneously. The working device 203b can also be composed of cylindrical rotating bodies with a large amount of bristle material implanted on the surface of the body 204. It should be noted that the working device 203b also includes upwardly and downwardly extending protective members 231 to 234, identical to the aforementioned protective member 231. Furthermore, an airbag 206 is provided on the connecting member 220a on the side opposite to the main body 204. The airbag 206 can inflate or contract by supplying or releasing pressurized air via the connecting member 220a. The airbag 206 may also be a corrugated airbag. According to the airbag 206, it is possible to assist in the opening and closing movements of the mouth, or to train the muscles that move the tongue and jaw. The airbag 206 is usually positioned on the tongue, but sometimes it is also positioned under the tongue for use. A through hole is provided in the airbag 206, and a tube member 207 is inserted through the through hole. If the tube member 207 can also be a fiber optic lens that functions as a camera, or a vacuum tube that functions as an extraoral suction device, or a needle nozzle for dispensing or applying water or medicine, or a catheter, endoscope, tampons for stimulating the throat, etc., it may also be a medical device. Alternatively, instead of the airbag 206, an elastic component (a mouth jack mechanism made of rubber or the like) can be provided for training the jaw, tongue, and / or throat. This elastic component is a thick-walled disc-shaped or approximately teardrop-shaped component located on the throat side of the body during installation. Furthermore, the elastic component can be configured to have a through-hole, containing a vacuum tube, needle nozzle, catheter, endoscope, cotton swab, or fiber optic camera inserted into the through-hole of the airbag.

[0104] Seventeenth Implementation Method The working device 303a according to the seventeenth embodiment is composed of a body 304, a handle 305, cylindrical rotating bodies 310a and 310b, an inner moving mechanism 320, and an outer moving mechanism 330. FIG38(A) is a side view of the working device 303a, and FIG38(B) is a cross-sectional view along line AA of FIG38(A). The main body 304, viewed from above, is in the shape of a mouthpiece (see Figure 38(B)). It is composed of a flexible resin component and a deformable metal wire rope frame, allowing it to be deformed to fit the size of the user's jaw. Cylindrical rotating bodies 310a and 310b are provided on the bottom side of the main body 304. An inner moving mechanism 320 and an outer moving mechanism 330 are provided on the main body 304. In this embodiment, the inner moving mechanism 320 is composed of a gear and rack mechanism, and the gear portion 322 having the gear 322a can reciprocate along the rack 321, which forms a generally C-shaped curve. As shown in Figure 39(A), a cylindrical rotating body 310a is connected below the gear portion 322 of the inner moving mechanism 320, and moves along the rack 321 together with the gear portion 322. The cylindrical rotating body 310a, like in the sixteenth embodiment, includes a drive portion 311 and a rotating portion 312. A large amount of wool material (not shown) is grown on the surface of the rotating portion 312, allowing for brushing by rotating the rotating portion 312.

[0105] The outer moving mechanism 330 is composed of a gear and rack mechanism, wherein the gear portion 332, having a gear 332a, can reciprocate along the rack 331, which forms a roughly C-shaped curve. Below the gear portion 332 of the outer moving mechanism 330, a cylindrical rotating body 310b is connected and moves along the rack 331 together with the gear portion 332. Like the cylindrical rotating body 310a, the cylindrical rotating body 310b can be rotated by the rotating part 312 and brushed using the bristle material on its surface. The power supplied to the working device 303a can also be supplied by a battery installed on the handle 304, or it can be configured to be directly powered from a commercial power source or the like via a power cable. Alternatively, it can be configured to have an electronic thermometer, a storage device, and a communication device built into the main body 304, and be able to send the stored intraoral temperature to an external computer. It should be noted that the inner moving mechanism 320 and the outer moving mechanism 330 are not limited to the gear and rack mechanism illustrated, but may also be composed of an electric slider of a ball screw mechanism.

[0106] According to the seventeenth embodiment described above, the working device 303a can automatically perform brushing of the surface and back of the molar from one molar to another. Alternatively, the working device 303b can be configured with cylindrical rotating bodies 310c to 310d extending upward from the gear portions 322 and 332 (see Figure 39(B)). That is, cylindrical rotating bodies 310c facing the cylindrical rotating body 310a and cylindrical rotating bodies 310d facing the cylindrical rotating body 310b can also be provided. With the working device 303b, both the surface and back surfaces of the upper and lower teeth can be brushed simultaneously. It should be noted that the air bladder 206 and / or the tube component 207 can also be provided on the throat side (inner surface) of the main body 304.

[0107] Eighteenth Implementation Method The working device 403 of the eighteenth embodiment comprises a main body 404a, 404b, a handle 405, and cylindrical rotating bodies 410a to 410l. Figure 40 is a bottom view of the working device 403. As shown in Figure 40, on the bottom surface of the main body 404, twelve cylindrical rotating bodies 410a to 410l are arranged substantially upright in the vertical direction. Similar to the sixteenth embodiment, the cylindrical rotating bodies 410a to 410l include a drive unit 411 and a rotating unit 412 (not shown). A large amount of bristle material is grown on the surface of the rotating unit 412, allowing for brushing by rotating the rotating unit 412. The main body 404a is mounted on the handle 405 with an adjustable gap G; the size of the gap G can be adjusted and fixed by moving the main body 404a. The number of cylindrical rotating bodies provided on the bottom surfaces of the main bodies 404a and 404b is not limited to the number shown in the examples; any number is per possibility. Alternatively, the drive unit may be provided not only on some of the cylindrical rotating bodies 410, but also on each of them; the driving force for the other cylindrical rotating body 410 may be transmitted via gears or the like. Alternatively, an acoustic vibration generator may be provided on the handle 405, capable of transmitting acoustic vibrations to the teeth via the main bodies 404a and 404b and the cylindrical rotating bodies 410a to 410v. Here, the acoustic vibration generator may be, for example, a linear motor device that generates vibrations at 1200 to 40000 revolutions per minute. The power supplied to the working device 403 may be provided by a battery provided on the handle 405, or it may be a structure where power is directly supplied from a commercial power source via a power cable.

[0108] Nineteenth Implementation Method The working device 603 of the nineteenth embodiment is configured to include a body 604a, 604b, a handle 605, and a gripping part 606. Figure 41 is a bottom view of the working device 603. As shown in Figure 41, a large amount of wool material 607a is planted on the inner side of the body 604a facing the body 604b, and a large amount of wool material 607b is planted on the outer side of the body 604b facing the body 604a. The gripping part 606 has a built-in vibration device 608, which can perform brushing by vibrating the bodies 604a and 604b in a direction orthogonal to the handle 605 via the handle 605. The vibration from the vibration device 608 is effectively transmitted to the ends of the bodies 604a and 604b through the vibration plate 609 embedded in the handle 605, the vibration plate 610a embedded in the body 604a, and the vibration plate 610b embedded in the body 604b. The vibrating plates 609, 610a, and 610b can be made of metal plates. Alternatively, the aforementioned airbags can be installed, with the vibrating plates placed inside the airbags. Here, the vibration device can also be provided on the handle 605 instead of the gripping part 606. The vibration device 608 can also be, for example, an acoustic vibration generator that produces vibrations of 1200 to 40000 revolutions per minute. The main body 604a is mounted on the handle 605 in a manner that allows for adjustable gap G. The size of the gap G can be adjusted and fixed by moving the main body 604a. The handle 605 and the gripping part 606 can also be connected in a detachable manner. With this structure, it becomes easy to insert the handle 605 into the insertion hole 507 of the working device 503 of the twenty-second embodiment for use. The power supplied to the working device 603 can be supplied by a battery provided in the gripping part 606, or it can be configured to be directly powered from a commercial power source or the like via a power cable.

[0109] The working device 613 of the modified example of the nineteenth embodiment is composed of a main body 614a, 614b, a handle 615, and a gripping part 616. Figure 42 is a bottom view of the working device 613. As shown in Figure 42, cylindrical rotating bodies 617a to 617o are embedded on the inner side of the main body 614a facing the main body 614b, and cylindrical rotating bodies 619a to 619n are embedded on the outer side of the main body 604b facing the main body 604a. Wool material 618a to 617o is planted at the ends of the cylindrical rotating bodies 617a to 617o, and wool material 620a to 620n is planted at the ends of the cylindrical rotating bodies 619a to 619n. Brushing can be performed by rotating the cylindrical rotating bodies 617a to 617o and the cylindrical rotating bodies 619a to 619n. Except for the surface at the end where hairy material is planted, the cylindrical rotating bodies 617a to 617o and 619a to 619n have the same structure as the cylindrical rotating bodies described above. The same vibration device and vibration plate as those in the nineteenth embodiment may also be provided in the working device 613. The main body 614a is mounted to the handle 615 with an adjustable gap between it and the main body 614b. The size of the gap can be adjusted and fixed by moving the main body 614a. The power supplied to the working device 613 can be supplied by a battery installed in the gripping part 616, or it can be configured to be directly powered from a commercial power source or the like via a power cable.

[0110] Implementation Method 20 The working device 633 of the twentieth embodiment is composed of belt support members 631 and 632, a main body 634, cylindrical rotating bodies 635a to 635f, 637a to 637e, belt members 636 and 638, a handle 639, and a gripping part 640. Figure 43(A) is a bottom view of the working device 633, and Figure 43(B) is a side view viewed from the outside. As shown in Figure 43, cylindrical rotating bodies 635a, 635b, 637a, and 637b are arranged at both ends of the main body 634. Cylindrical rotating bodies 635a to 635f are referred to as the first rotating body assembly, and cylindrical rotating bodies 637a to 637e are referred to as the second rotating body assembly. A belt component 636, incorporating a large amount of hair material, is wound around the outer periphery of the support member 631 and the first rotating body assembly (cylindrical rotating bodies 635a to 635f), allowing for brushing by rotating the first rotating body assembly. Similarly, a belt component 638, also incorporating a large amount of hair material, is wound around the outer periphery of the belt support member 632 and the second rotating body assembly (cylindrical rotating bodies 637a to 637e), allowing for brushing by rotating the second rotating body assembly. Protective components (not shown) are provided on the outer and inner sides of the main body 634 to prevent the inner lips or tongue from contacting the hair material and causing skin injury. The protective components can be made of, for example, a flexible resin material. The power supplied to the working device 613 can also be supplied by a battery installed in the gripper 616, or it can be configured to be directly powered from a commercial power source or the like via a power cable.

[0111] Implementation Method 21 As shown in FIG44, the working device 503 of the twenty-first embodiment is composed of a base 504, a connector 505, a mask member 506, a through hole 507, end members 508a to 508j, cylindrical rotating bodies 510a to 510p, and connecting members 520a to 520i. Numerous blades (not shown) are provided on the surface of the cylindrical rotating bodies 510a-510p, allowing for beard shaving by rotating the cylindrical rotating bodies 510a-510p. Since beard shaving cannot be performed on the part where the connecting member 520 is located, the mask member 506 must be moved to prevent stubble. The mask member 506 can also be moved around the head to shave sideburns. An acoustic vibration device that generates acoustic vibration can also be provided within the cylindrical rotating bodies 510a-510p or the connecting parts 520a-520i. An end member 508 is provided at the end of each interconnected cylindrical rotating body 510. The end member 508 is mounted so as to be movable relative to the mask member 506, and by moving the end member 508, the cylindrical rotating body 510 can reciprocate in the width direction of the mask member 506. Unlike this embodiment, the end member 508 can also be fixed to the mask member 506 in a non-movable manner. Although the mask member 506 is shown as transparent in FIG. 44, it is actually opaque.

[0112] The mask component 506 is freely mounted and detached from the base 504 via the connector 505. Power to the working device 503 can be supplied by a battery installed in the base 504 or the mask component 506, or it can be directly powered from a commercial power source via a power cable. In either case, it is preferable to be able to use the device after removing the mask component 506 and the cylindrical rotating bodies 510a-510p from the base 504. Figure 45 illustrates the state in which the mask component 506 and the cylindrical rotating bodies 510a-510p are removed from the base 504, and the handle 405 of the working device 403 of the eighteenth embodiment is inserted into the insertion hole 507 provided on the mask component 506. According to the usage shown in Figure 45, shaving and brushing teeth can be performed simultaneously, for example, which can improve the efficiency of nursing care in nursing homes or hospitals. Unlike this embodiment, brushes or bristles can also be provided on the surface of the cylindrical rotating bodies 510a to 510n to form a working device for massage, makeup removal, application of medicine, etc.

[0113] Implementation Method 22 Figure 46(A) is a front view showing the first state of the working device 533 according to the twenty-second embodiment, and Figure 46(B) is a front view showing the second state. As shown in Figure 46, the working device 533 according to the twenty-second embodiment is configured to include cylindrical rotating bodies 540a to 540c, connecting members 550a to 550d, ear hook members 580a and 580b, and telescopic cylinders 590a and 590b. The cylindrical rotating bodies 540a to 540c have the same structure as the cylindrical rotating body 510 in the twenty-first embodiment, and are provided with blades for shaving beards, etc. on their surfaces. The connecting parts 550a to 550d have the same structure as the connecting part 520 in the twenty-first embodiment. The telescopic cylinder 590 has the same structure as the telescopic cylinder 90 described above, and a telescopic control device, an accumulator, and a hydraulic cylinder are arranged inside the cylinder body. Ear hook components 580a and 580b are provided at the upper ends of the telescopic cylinders 590a and 590b. The ear hook components 580a and 580b are, for example, ring-shaped bodies made of an elastic material, and the working device 533 can be mounted on the face by hanging them on the two ears. Alternatively, the ear hook components 580a and 580b can be combined with a U-shaped device for fixing to the neck and fixed at the neck area instead of hanging them on the ears.

[0114] The working device 533 is equipped with a control device on the cylindrical rotating body 540 or the telescopic cylinder 590, which can be operated externally via a wireless controller (not shown). By rotating the cylindrical rotating bodies 540a to 540c using the wireless controller, facial scanning can be used to automatically shave beards, etc. At this time, by extending and retracting the telescopic cylinders 590a and 590b while rotating the cylindrical rotating bodies 540a to 540c, the area where the connecting parts 550a to 550d are located can be shaved clean. The power supplied to the working device 533 can also be supplied by a battery installed on the cylindrical rotating body 540 or the telescopic cylinder 590, or it can be configured to be directly powered from a commercial power source or the like via a power cable. Unlike this embodiment, brushes, powder puffs, cloths, cotton balls, pens, bristles, etc., can also be provided on the surface of the cylindrical rotating bodies 540a-540c to form a working device for massage, makeup removal, and application of medicine. Alternatively, it can be configured with a handle connected to the mounting portion of the mounting connecting parts 550b and 550c, allowing the cylindrical rotating bodies 540a-540c to be moved in the up, down, left, and right directions by gripping the handle. In this embodiment, the cylindrical rotating bodies 540a-540c can be connected to form a single rotating body assembly, but it can also be composed of two parallel rotating body assemblies branching from the ear hook parts 580a and 580b. A mechanism for releasing mist and steam from the surface of the cylindrical rotating bodies 540a-540c can also be provided. Furthermore, ultrasonic vibration, air purification, and oxygen release functions can be provided in the cylindrical rotating bodies 540a-540c.

[0115] Implementation Method 23 As shown in Figure 47(A), the operating device 801 of the twenty-third embodiment is a flying device comprising a flat plate 80, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a to 810d, connecting parts 820a to 820d, blade parts 811a to 811b and 812a to 812b, and a connecting frame 813. As shown in Figure 47(B), the operating device 802 of the modified example of the twenty-third embodiment is a flying device comprising a flat plate 80, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a-810f, connecting parts 820a-820f, blade parts 811a-811b and 812a-812b, and a connecting frame 813. The cylindrical rotating body 810 has the same structure as the cylindrical rotating body 10 of the first embodiment. The cylindrical rotating bodies 810a-810b have blade parts 811a-811b and 812a-812b provided on their surfaces. The rotational speed and direction of each cylindrical rotating body 810 can be independently controlled by the control unit 806 provided on the plate portion 80. The cylindrical rotating bodies 810 are interconnected via movable connecting members 820, and the relative angles of the connecting members 820 can be dynamically changed. For example, when rising, as shown in FIG47(A), the cylindrical rotating bodies 810 can be positioned in a straight position, and when moving forward, as shown in FIG47(B), a portion of the cylindrical rotating bodies 810 is bent relative to the plate portion 80.

[0116] The flat panel 80 houses a control unit 806 and a power supply unit 807. The control unit 806 includes a ROM (Read Only Memory) storing programs for controlling the accelerometer, level sensor, and the movements of each cylindrical rotating body 810; a CPU (Central Processing Unit) executing the programs stored in the ROM; and RAM (Random Access Memory) functioning as an accessible storage device. Furthermore, the control unit 806 includes GPS and a wireless communication device, enabling it to control the rotation speed of each cylindrical rotating body 810 based on commands received from the outside via the wireless communication device, thereby allowing the operating device 801 to fly along a predetermined route. The power supply unit 807 has a rechargeable secondary battery that supplies power for driving the cylindrical rotating body 810 and the like. In Figure 47, the connecting frame 813 illustrates the structure of the connected plate portion 80, but it can also be connected to the upper surface side of the plate portion 80 or to the lower surface side. The working device 801 of the twenty-third embodiment can substantially maintain the flat plate 80 horizontally during both ascent and forward movement by dynamically changing the relative angles of each cylindrical rotating body 810 at the connecting member 820. That is, by detecting the posture of the working device 801 using a level sensor, and in the event of a posture change, the control unit 806 controls the rotational speed of each cylindrical rotating body 810 and the angle of each cylindrical rotating body 810 connected to the connecting member 820, thereby maintaining the posture of the working device 801 horizontally at all times. In helicopters, the rotating surface needs to be tilted during forward movement, but since the working device 801 always moves horizontally, the passenger comfort when boarding is also good. The flat plate 80 is not limited to the illustrated shape and can be modified in various ways. For example, it can be configured to have attachments provided and can be mounted on vehicles (cars, trucks, agricultural vehicles, etc.), heavy construction machinery, working machinery, civil engineering machinery, agricultural machinery (chainsaws, etc.), construction machinery, containers, baskets, airplanes, ships, humanoid robots, working robots, etc. Alternatively, a connecting mechanism may be provided on the side of the flat plate 80 to connect multiple working devices 801 to each other. Wheels or a robotic hand having multiple fingers composed of cylindrical rotating bodies connected in a straight line may also be provided on the lower part of the flat plate 80 (for example, the robotic hand of the sixth embodiment shown in FIG10). It should be noted that the working device 801 can also be configured as a small toy. In this case, accessories can also be provided on the flat plate 80, allowing it to be combined with toys such as robots.

[0117] Implementation Method 24 As shown in Figures 48 to 51, the operating device 803 of the twenty-fourth embodiment is composed of a main body 804, fixing parts 805a to 805d, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a to 810h, blade parts 811a to 811h and 812a to 812h, connecting parts 820a to 820h, and a detection mechanism 830. It is a flying device that functions as both an unmanned aerial vehicle and an automatic rotorcraft. The cylindrical rotating bodies 810a to 810h have the same structure as the cylindrical rotating body 10 in the first embodiment, and blade components 811a to 811h and 812a to 812h are provided on their surfaces. The rotational speed and direction of each cylindrical rotating body 810 can be independently controlled by the control unit 806. It is also possible to operate only a specific cylindrical rotating body among the cylindrical rotating bodies 810a to 810h. The cylindrical rotating bodies 810a to 810h are connected to each other via movable connecting members 820a to 820h, and can be fixed in a state where the relative angle is changed at the connecting members 820a to 820h. For example, as shown in Figure 48(B), the cylindrical rotating bodies 810a, 810c, 810e, and 810g can be bent by 90 degrees at the connecting parts 820a, 820c, 820e, and 820g, generating a horizontal propulsive force (horizontal movement mode) through the blade parts 811a, 811c, 811e, 811g, and 812a, 812c, 812e, and 812g. In this case, the rotation directions of the cylindrical rotating body with its end on the travel direction side and the cylindrical rotating body with its end on the opposite direction side are opposite. It should be noted that in the horizontal movement mode, the bending angle of the connecting part 820 on the cylindrical rotating body 810 does not necessarily have to be 90 degrees; for example, it can be moved diagonally upwards or downwards by adjusting the angle within the range of 60 to 120 degrees. In the example shown in Figure 48(A), the cylindrical rotating body 810a bends outward at the part connecting member 820a, and the cylindrical rotating body 810c bends outward at the part connecting member 820c. However, it may also bend inward, or it may extend vertically without bending. In addition, the center lines of each adjacent cylindrical rotating body 810a to 810h in the vertical direction can of course be arranged in a way that forms a straight line.

[0118] Figure 48(C) is a side view showing the loading mode of the working device 803. The four connecting parts 820b, 820d, 820f, and 820, also called root connecting parts, located near the main body 804, bend the cylindrical rotating bodies 810a to 810h outward based on instructions from the control unit 806. When a load is applied to the upper surface of the main body 804, the blade parts 811a to 811h and 812a to 812h can be positioned in an unobstructed position. Connecting components 820b, 820d, 820f, and 820h are fixed to the main body 804 via fixing components 805a to 805d. Here, as in the modified example shown in FIG. 49, a lateral telescopic mechanism 841 (e.g., the telescopic cylinder described in FIG. 27) that extends horizontally can be provided in the portion of the main body 804 connecting the fixing components 805a to 805d, allowing for mutual adjustment of the distance between the fixing components 805a to 805d. With this structure, the size of the space on the upper surface of the main body 804 can be adjusted, and the center of gravity can also be adjusted. Furthermore, in the modified example shown in FIG. 49, a vertical telescopic mechanism 842 (e.g., the telescopic cylinder described in FIG. 27) is provided, which allows for adjustment of the distance between the connecting components 820a to 820h and the main body 804. With this structure, when goods are loaded onto the upper surface of the main body 804, the blade components 811 and 812 can be raised to an unobstructed position, and the center of gravity can also be adjusted.

[0119] Cylindrical rotating bodies 810a and 810b, and connecting parts 820a and 820b constitute the first blade 808a; cylindrical rotating bodies 810c and 810d, and connecting parts 820c and 820d constitute the second blade 808b; cylindrical rotating bodies 810e and 810f, and connecting parts 820e and 820f constitute the second blade 808c; and cylindrical rotating bodies 810g and 810j, and connecting parts 820g and 820h constitute the fourth blade 808d. As shown in Figure 51, the first blade 808a and the fourth blade 808d are symmetrically arranged at points, and the second blade 808b and the third blade 808c are symmetrically arranged at points. From another viewpoint, the first blade 808a and the second blade 808b are symmetrically arranged with respect to the third blade 808c and the fourth blade 808d.

[0120] The main body 804 houses a control unit 806 and a power supply unit 807. The control unit 806 includes an accelerometer (which may also be located in the detection mechanism 830 described later), a ROM (Read Only Memory) storing programs for controlling the movement of each cylindrical rotating body 810, a CPU (Central Processing Unit) executing the programs stored in the ROM, and RAM (Random Access Memory) functioning as an accessible storage device. Furthermore, the control unit 806 includes a GPS (which may also be located in the detection mechanism 830 described later) and a wireless communication device. By controlling the rotation speed of each cylindrical rotating body 810 based on commands received from the outside via the wireless communication device, the working device 803 can fly along a predetermined route. In addition, the control unit 806 detects the attitude of the working device 803 using the accelerometer and gyroscope sensors. Even when the attitude of the working device 803 changes due to wind or other factors, the attitude of the working device 803 can be stabilized by controlling the rotation speed of each cylindrical rotating body 810 individually. Alternatively, a distance sensor can be installed on the working device 803, enabling the control unit 806 to have the function of avoiding collisions based on the detection value of the distance sensor. The power supply unit 807 has a rechargeable secondary battery that supplies power for driving the cylindrical rotating body 810 and the like. The detection unit 830 includes cameras and other sensors used to capture images of the surroundings of various aircraft. Among these sensors are, for example, GPS, accelerometers, velocity sensors, gyroscopes, altimeters, anemometers, and radar for identifying obstacles along the flight path—sensors that detect information related to flight conditions. The control unit 806 can automatically control the bending degree of the connecting component 820 relative to the cylindrical rotating body 810 based on changes in acceleration detected by the detection mechanism 830 or changes in conditions such as wind, thereby achieving optimal propulsion and center of gravity. Furthermore, in the variation shown in Figure 49, the control unit 806 automatically controls the extension and retraction of the lateral telescopic mechanism 841 and the vertical telescopic mechanism 842 based on changes in acceleration detected by the detection mechanism 830 or changes in conditions such as wind, thereby achieving optimal center of gravity.

[0121] The states shown in Figures 48 and 49 are examples and can be varied. For example, the number of cylindrical rotating bodies 810 is not limited to the eight shown; one can be arranged at each of the four locations, or three or more can be arranged at each of the four locations. Furthermore, the locations where the cylindrical rotating bodies 810 are arranged are not limited to the four shown; any three or more locations are acceptable, such as five, six, or eight locations arranged symmetrically or linearly. Additionally, the blade components 811 and 812 provided on one cylindrical rotating body 810 can be two or more sets. Furthermore, the working device 803 can also be a device for enabling cars or ships to fly, or it can be configured to have an accessory for car mounting provided on the bottom side of the main body 804, allowing it to be mounted on cars or ships. Moreover, existing aircraft can be towed, or the attachment for transport can be provided on the bottom side of the main body 804. Figure 50 is a side view showing an example of an attachment 821 for mounting the working device 803 on the roof of a car (it should be noted that the roof of the car needs to be reinforced to support the weight of the vehicle). At this time, a power supply port for supplying power from the battery of a car or ship to the working device 803 can also be provided in the main body 804. It can also be configured to allow the accessory 821 to be installed on vehicles such as trucks and agricultural vehicles, heavy engineering machinery, working machinery, civil engineering machinery, agricultural working machinery (chainsaws, etc.), construction machinery, containers, baskets, ships, aircraft, humanoid robots, working robots, etc.

[0122] Implementation Method 25 As shown in Figure 52, the operating device 830 of the twenty-fifth embodiment is a flight-type device comprising a main body 831, main wings 832a-832b, horizontal tail 833a-833b, vertical tail 834, cylindrical rotating bodies 835a-835p, blade components 836a-836p and 837a-837p, connecting components 838a-838p, support columns 839a-839d, and wing connecting components 840a-840f. The cylindrical rotating bodies 835a to 835p have the same structure as the cylindrical rotating body 10 in the first embodiment, and blade components 836a to 836p and 837a to 837p are provided on their surfaces. The rotational speed and direction of each cylindrical rotating body 835 can be controlled independently. The number of cylindrical rotating bodies 835 is not limited to the number shown in the example; for example, it can also be configured with the same structure as the Osprey tiltrotor aircraft, which has a set of cylindrical rotating bodies 835, blade components 836 and 837, and connecting components 838 on each of the main wings 832a to 832b. The operating device 830 of the twenty-fifth embodiment, like the operating device 803 of the twenty-fourth embodiment, is capable of bending (adjusting the angle) the cylindrical rotating bodies 835a-835p within a range of at least 90 degrees forward or backward at the connecting parts 838a-838p. Therefore, for example, by extending most or all of the cylindrical rotating bodies 835a-835p vertically during ascent and extending most or all of the cylindrical rotating bodies 835a-835p 90 degrees forward or backward during flight, it is possible to switch between an ascent mode (where ascent occurs even in areas without a taxiway) and a flight mode (where flight occurs after ascent). Here, in flight mode, the rotation directions of the cylindrical rotating bodies with blade components on the direction of travel and the cylindrical rotating bodies with blade components on the opposite side of the direction of travel are opposite. The operating device 830 can also be configured as a manned mode where a cockpit is provided in the main body 831 for human operation, or as an unmanned mode where flight is carried out according to commands received from the outside via a wireless communication device.

[0123] Figure 52 illustrates a structure in which wing connecting parts 840a-840d cover the main wings 832a-832b, and wing connecting parts 840e-840f cover the horizontal tail fins 833a-833b. However, the structure of the wing connecting part 840 is not limited to the illustrated configuration. For example, it could be configured such that, when flaps, spoilers, elevators, etc., are provided on the main wing and horizontal tail fin, a wing connecting part protruding from the underside of the main wing and / or horizontal tail fin is provided in a manner that does not obstruct them, and a connecting part 838 is provided on the side of the wing connecting part. In this case, it could also be configured such that the connecting part is provided via a support column extending beyond the front or rear end of the wing. It should be noted that the cylindrical rotating body 835, blade components 836 and 837, and connecting component 838 of this embodiment can also be attached to existing jet engines and blade machines.

[0124] Implementation Method 26 Figure 53 is a perspective view showing the working device 700 of the twenty-sixth embodiment. The working device 700 of the twenty-sixth embodiment is movable along an elongated component R such as a rope or guide rail, and forms an agricultural tunnel by mounting a cover component, i.e., vinyl resin (not shown). The number of unit working devices 703 constituting the working device 700 is not limited to the illustrated three units, and can be any number of units. The unit working device 703 includes a body 704, a support component 705, a rotating component 706, a frame 707, and wheels 731 and 732. The main body 704 houses a control device, a power supply, and a wireless communication device, allowing the rotation of wheels 731 and 732 to be controlled via communication with an external computer such as a smartphone. Alternatively, the main bodies 704a to 704c can be connected by rod-shaped components and moved as a single unit. Alternatively, sensors such as a camera sensor, temperature sensor, CO2 sensor, light sensor, and humidity sensor can be installed on the main body 704, and the sensor readings can be transmitted to an external computer via the wireless communication device. A rotating component 706, supported by a pair of support members 705, is positioned above the main body 704. The rotating component 706 has its bottom surface abutting against the elongated component R, and a portion of the load of the unit working device 703 is supported by the elongated component R. The elongated component R need not be a single unit; a structure with multiple rotating components 706 can be used, allowing multiple elongated components R to support the load. In this embodiment, the rotating component 706 is a pulley; however, it can also be constructed from the aforementioned cylindrical rotating body. When the rotating component 706 is composed of the aforementioned cylindrical rotating body 10, the wheels 731 and 732 do not need to be always grounded, and can move even when suspended by the elongated component R. The method of assembling the rotating component 706 into the cylindrical rotating body 10 is effective when the elongated component R is a guide rail, rope, or the like with a constant width.

[0125] The upper end of the arched frame 707 is detachably connected to the bottom surface of the body 704. With the body 704 detached from the upper end of the frame 707, a vinyl resin (not shown) is applied to the frame 707. The top of the vinyl resin can be secured by mounting the body 704 onto the frame 707 covered with vinyl resin. The lower end of frame 707 is connected to wheel supports 711 and 712. Wheel support 711 has fastener 713 and wheel 731, and wheel support 712 has fastener 714 and wheel 732. Fasteners 713 and 714 are devices for fixing vinyl resin, and are configured, for example, to have internal threads that engage with the external threads of wheel supports 712 and 713. Wheel supports 712 and 713 have wheel drive devices (not shown) for rotating wheels 731 and 732, but the wheel drive devices (not shown) can also be made of the aforementioned cylindrical rotating bodies, and wheels 731 and 732 can also be made of the aforementioned cylindrical rotating bodies. Wheels 731 and 732 can also be made of single-axle or multi-axle driven tracks, desert tires, truck tires, space probe tires, or tires with metal circumferences. The unit working device 703 can move autonomously by controlling the rotation of wheels 731 and 732 via a control device mounted on the main body 704. By enabling the unit working device 703 to move autonomously, the agricultural tunnel can be moved without changing the distance between frames 707a and 707c, or the tunnel length can be adjusted by changing the distance between frames 707a and 707c. Alternatively, a height adjustment device 64, as described in the twelfth embodiment, can be mounted on the main body 704 to adjust the distance between the elongated member R and the frames 707a and 707c. The elongated member R is not limited to the single example shown; two or more elongated members R can be provided, and corresponding wheels can be added to increase strength. In the twenty-sixth embodiment, an example of an agricultural tunnel is described, which can be added to greenhouses, buildings, warehouses, and sheds (sunshades). The technical concept of this embodiment can also be applied to domes for ball sports such as tennis, disaster relief tents, etc., and the cover components can be replaced with fabric, etc. As a variation of the twenty-sixth embodiment, a telescopic mechanism (for example, the telescopic cylinder 90 shown in FIG27) may also be provided at the lower end of the connecting frame 707 and the wheel support portions 711, 712. By adopting such a structure, it is possible to absorb differences in ground elevation.

[0126] Implementation Method 27 Figure 54(A) is a side view of the working device 850 according to the twenty-seventh embodiment, Figure 54(B) is a side view of the working device 870, and Figure 54(C) is a cross-sectional view along line AA of Figure 54(A). In Figures 54(A) and 54(B), the cover members 857 and 877 are shown in perspective, and the parts located on the back side of the cover member 857 are indicated by dashed lines. The working device 850 of the twenty-seventh embodiment is configured to include a main body 851, cylindrical rotating bodies 852a and 852b on which brushes are provided on their surfaces, wheels 853a to 853d, connecting parts 854a to 854d, intermediate part 855, side end parts 856a and 856b, cover part 857, and suction port 858. The cylindrical rotating bodies 852a and 852b, disposed on the bottom surface of the main body 851, have the same motor mechanism as in the first embodiment, and bristle material (not shown) that functions as a cleaning brush is provided on the surface of the outer body. The number of cylindrical rotating bodies 852a and 852b is not limited to the two shown, but can also be one or more. The main body 851 is equipped with a control device (not shown), a power supply, and a wireless communication device, which can control the rotation of the cylindrical rotating bodies 852a and 852b respectively. When the cylindrical rotating bodies 852a and 852b rotate, the wheels 853a to 853d also rotate in conjunction or independently, and the working device 850 moves. It should be noted that the wheels 853a to 853d can also be omnidirectional wheels. Since the main body 851 is configured to be flexible in the intermediate part 855, it can deform and move even when encountering obstacles. It can also be configured such that a gyroscope sensor is provided in the main body 851 to measure the rotational angular velocity while moving. In Figure 54(A), the cover component 857, shown in perspective, covers cylindrical rotating bodies 852a and 852b, wheels 853a to 853d, and connecting components 854a to 854d, as shown in Figure 54(C). Viewed from the side, it has a U-shape. A suction port 858 is provided at the top of the inner peripheral space 857a of the cover component 857 along the width direction (left-right direction in Figure 54(A)). The cylindrical rotating bodies 852a and 852b attract the collected waste. The location of the suction port 858 is not limited to the top of the inner peripheral space 857a of the cover component 857; it can be located at any part of the inner peripheral space 857a. Alternatively, an external suction device can be connected to the main body 851, allowing the suction force to act on the suction port 858 from the external suction device. The power supplied to the working device 850 can be provided by a battery installed on the main body 851, or it can be a structure where it is directly powered from a commercial power source or the like via a power cable.

[0127] The working device 870 of the twenty-seventh embodiment is configured to include a main body 871, cylindrical rotating bodies 872a-872c with brushes provided on their surfaces, wheels 873a-873f, drive units 874a-874d, intermediate parts 875a-875b, side parts 876a-876b, a cover part 877, and movable parts 878a-878b. Since the structures of the main body 871, wheels 873a-873f, and cover part 877 are the same as their corresponding elements in the working device 850, their descriptions are omitted. Because the intermediate parts 875a-875b are made of the same flexible material as the intermediate part 855, they can deform according to the unevenness of the ground, allowing them to move even when encountering obstacles. The cylindrical rotating bodies 872a-872c have the same motor mechanism as in the first embodiment, and bristle material (not shown) that functions as a cleaning brush is provided on the surface of the outer body. The working device 870 differs from the working device 850 in that it is equipped with drive units 879a-879f that have motors for rotating wheels 873a-873f independently of the cylindrical rotating bodies 872a-872c. Since the control device (not shown) on the main body 871 can control the rotation speed of wheels 873a-873f respectively via the drive units 879a-879f, the working device 870 can move in any direction. By equipping the control device with AI (artificial intelligence) map-making capabilities, the working device 870 can move automatically and perform unattended cleaning once it learns the geography of the cleaning area. Alternatively, the control device can be configured to incorporate GPS and a wireless communication device, allowing the working device 870 to move unattended along a predetermined route outdoors based on instructions received from the outside via the wireless communication device. It should be noted that, in addition to moving forward, it can also move backward. By controlling the rotational speed of wheels 873a to 873f, it can also switch directions to left or right. It should also be noted that, alternatively, the structure can be configured without wheels 873a to 873f, using cylindrical rotating bodies 872a to 872c as drive wheels. Instead of the cleaning brushes set on the surface of the outer casing of the cylindrical rotating bodies 872a to 872c, blades or claws for mowing, pruning, felling, tilling or snow removal can also be set on the surface of the outer casing. The number of cylindrical rotating bodies 872a to 872 is not limited to the three illustrated, but can also be four or more. In Figure 54, a structure with one row of cylindrical rotating bodies 872a to 872c is illustrated. For example, as shown in Figure 15, multiple rows of cylindrical rotating bodies 872a to 872c can also be arranged.

[0128] Implementation Method 28 Figure 55(A) is a side view of the cleaning section 901 of the working device 900 according to the twenty-eighth embodiment, and Figure 55(B) is a top view of the working device 900. The working device 900 of the twenty-eighth embodiment is configured to include a cleaning section 901 and a cleaning section support section 902, and is a device for automatically cleaning a bathtub. The cleaning unit 910 is configured to include a main body 911, cylindrical rotating bodies 910a and 910b, a root connecting member 914, and a connecting member 920a. The cylindrical rotating bodies 910a and 910b have the same motor mechanism as in the first embodiment, and bristles that function as cleaning brushes are provided on the surface of the outer body. The cylindrical rotating body 910a has the same motor mechanism as in the first embodiment, and bristles that function as a cleaning brush are provided on the surface of the outer casing. The cylindrical rotating body 910a extends downward from the main body 911 via the root connecting member 914, and can be fixed in a state where the angle relative to the main body 911 can be changed at the connecting member 920a. Therefore, even when the inner side of the bathtub is tilted, the angle of the cylindrical rotating body 910a can be changed according to the tilt. The cylindrical rotating body 910b has the same motor mechanism as in the first embodiment, and bristles that function as a cleaning brush are provided on the surface of the outer casing. The cylindrical rotating body 910b is connected to the cylindrical rotating body 910a via a connecting member 920a and extends in a generally horizontal direction. The cylindrical rotating body 910b can be fixed at a portion of the connecting member 920a with its angle relative to the cylindrical rotating body 910a changed. Therefore, even if the bottom surface of the bathtub is inclined, the angle of the cylindrical rotating body 910b can be changed according to the inclination.

[0129] The main body 911 includes a main body drive unit 916 for moving on the frame, i.e., the cleaning section support 902, a control device (not shown), and a power supply (not shown). The main body drive unit 916 consists of wheels and a motor for moving on the upper surface of the cleaning section support 902. The main body 911 has a locking part 917 that engages with a groove (not shown) provided on the side of the cleaning section support 902. In order to clean the outer side of the bathtub (the side that enters the tub) and the floor, the cylindrical rotating bodies 910a and 910b can also be configured to be installed in a direction located on the outside of the bathtub. In addition, a warm air blowing function for drying can be provided on the cylindrical rotating bodies 910a and 910b. The number of cylindrical rotating bodies 910a and 910b and connecting parts 920 is not limited to the two shown, and can be any number. The main body 911 is provided with an operation button (not shown). By operating the operation button, the cylindrical rotating bodies 910a and 910b can be rotated while the main body 911 travels a predetermined distance along the cleaning section support 902. It can also be configured to include a wireless communication device in the main body 911, enabling remote operation from a smartphone or the like. Figure 55(C) is a side view of the cleaning section 903 of the working device according to a modified example of the twenty-eighth embodiment. The cleaning section 903 differs from the cleaning section 901 in that it includes cylindrical rotating bodies 910c-910d and connecting members 920b-920c. The cylindrical rotating bodies 910c-910d of the cleaning section 903 are the same as those 910a-910b. According to the cleaning section 903, multiple sides of the bathtub can be cleaned simultaneously by means of the cylindrical rotating bodies 910c, and the cleaning section support 902 can be cleaned simultaneously by means of the cylindrical rotating bodies 910d. To accommodate bathtubs of different sizes, a telescopic mechanism (e.g., the telescopic cylinder 90 shown in Figure 27) can be provided between the connecting members 920a and / or 920b and the cylindrical rotating body 910b. The working device 900 of the twenty-eighth embodiment is for cleaning bathtubs, but it can also be used for cleaning toilets by changing the size of the cleaning part 910 and making the shape of the cleaning part support 902 the same as the valve seat. In this case, it can also be configured to clean the toilet floor.

[0130] Implementation Method 29 Figure 56(A) is a perspective view of the working device 930 according to the twenty-ninth embodiment. The working device 930 of the twenty-ninth embodiment is a device for cleaning the toilet T. As shown in FIG56, it is configured to include cylindrical rotating bodies 931 to 934, connecting parts 941 to 944, a self-propelled part 950, and telescopic mechanisms 951 and 952. The cylindrical rotating bodies 931 to 934 have the same structure as the cylindrical rotating body 10 in the first embodiment, but they differ in that the cylindrical rotating body 931 has bristles on the surface of the outer body, while the cylindrical rotating bodies 932 to 933 have a cleaning cloth on the outer periphery of the outer body. Cylindrical rotating body 931 has bristles embedded on the surface of the outer body, and the outer body can clean the basin T3 of the toilet by rotating. Cylindrical rotating bodies 932-934 have cleaning cloths provided on the outer periphery of the outer body, and the outer body can clean the valve seat, the outer periphery of the toilet T (basin T3), and the ground by rotating. The cleaning cloths provided on the outer bodies of cylindrical rotating bodies 932-934 can be disposable non-woven fabric or washable and reusable fabric. Alternatively, bristles or sponges can be embedded on the surface of the outer body instead of cleaning cloths. In Figure 56(A), a structure using four cylindrical rotating bodies is shown, but there can be multiple cylindrical rotating bodies, and the number can be any. In addition, instead of cylindrical rotating body 931, a robotic hand equipped with multiple fingers composed of cylindrical rotating bodies connected in a straight line can be installed (for example, the robotic hand with brushes on the fingers or palm of the robotic hand in the sixth embodiment shown in Figure 10). With the use of robotic arms, cleaning can be done just like a human hand, even in fine grooves.

[0131] The rotational speed and direction of each cylindrical rotating body 931-934 can be independently controlled by the control unit built into the self-propelled unit 950, and only specific rotating bodies can be activated. The cylindrical rotating bodies 931-934 can be fixed in a state where the relative angle is changed at the connecting parts 941-944. The telescopic mechanisms 951 and 952 are, for example, the telescopic cylinders shown in Figure 27, which can adjust the height difference of different valve seat mounting surfaces T1 according to the telescopic movement of the product. It should be noted that the same telescopic mechanism as the cylindrical rotating body 932 or 933 can also be provided. The self-propelled unit 950 includes a control unit that controls the driving of the cylindrical rotating bodies 931-934, connecting parts 941-944, and telescopic mechanisms 951 and 952, a power supply, and wheels (not shown) that automatically move on the toilet floor. It can also be configured to incorporate artificial intelligence into the control unit and autonomously return to the charging point (not shown).

[0132] Figure 56(B) is a perspective view of the working device 960 of the modified example of the twenty-ninth embodiment. This working device 960 is for cleaning a urinal MT. As shown in Figure 56(B), it is configured to include cylindrical rotating bodies 961-963, connecting parts 971-973, a self-propelled part 980, and telescopic mechanisms 963 and 964. Figure 56(B) shows the standby state when not in use, in a self-standing standby position. When cleaning the urinal MT, since the piston rod 964 is housed within the cylinder 963, the bottom of the urinal MT can be cleaned. Like cylindrical rotating body 931, cylindrical rotating body 961 has bristles embedded on the surface of its outer casing. Cylindrical rotating bodies 962 and 963, like cylindrical rotating bodies 932 and 933, have cleaning cloths provided on the outer periphery of their outer casings. Telescopic mechanisms 964 and 965 are the same as telescopic mechanisms 951 and 952. Self-propelled unit 980 is the same as self-propelled unit 950. According to the working device 960, the urinal MT can be automatically cleaned. Figure 56(B) illustrates a structure using three cylindrical rotating bodies; however, the number of cylindrical rotating bodies can be arbitrary. Furthermore, instead of the cylindrical rotating body 961, a robotic hand equipped with multiple fingers composed of vertically connected cylindrical rotating bodies can also be installed (for example, the robotic hand in the sixth embodiment shown in Figure 10, where brushes are provided on the fingers or palm). When using a robotic hand, cleaning can be performed like a human hand, even in fine grooves.

[0133] 30th Implementation Method Figure 57(A) is a side view of the working device 1000 according to the thirtieth embodiment, Figure 57(B) is a side view of the first posture of the working device according to a modified example of Figure 57(A), Figure 57(C) is a side view of the second posture, and Figure 57(D) is a side view of the third posture. As shown in Figure 57(A), the operating device 1000 of the thirtieth embodiment is a flying body that includes a riding part 1001, a fixed part 1002, a movable part 1003, cylindrical rotating bodies 1010a to 1010b, blade components 1011a and 1012a, and a connecting part 1020a. The seating section 1001 is a space for people to ride, which can accommodate one or more people. It can be designed as an open type like a balloon, or as a closed type that can provide shelter from the wind and rain. It does not necessarily have to have passengers; it can also be used for transporting goods when unattended. The control unit, communication unit, and power supply, consisting of an accelerometer and a computer equipped with GPS, are housed in the housing of the fixing part 1002, which can remotely control the drive of the cylindrical rotating body 1010 and the connecting part 1020.

[0134] The cylindrical rotating bodies 1010a to 1010d have the same structure as the cylindrical rotating body 10 in the first embodiment. The cylindrical rotating body 1010a has blade components 1011a and 1012a at its front end. The working device 1000 illustrated in FIG57 has one blade composed of blade components 1011a and 1012a, as shown in FIG57(B) to (D), but it can also be configured to have two blades. Furthermore, when the number of blades is three or four or more, throttle, pitch, roll, and step movements can be performed more flexibly. Also, in FIG57, it is shown that the two blades are of the same size, but they can also be of different sizes; for example, blade components 1011a and 1012a can be configured to be larger than blade components 1011b and 1012b.

[0135] The rotational speed and direction of each cylindrical rotating body 1010 can be independently controlled by the control unit, and only specific rotating bodies can be activated. In particular, this is effective in structures with multiple blades. For example, in the variations shown in Figures 57(B) to (D), the cylindrical rotating bodies 1010a and 1010d can be fixed at the connecting parts 1020a and 1020b in a state where the relative angle changes. For example, according to the disclosure, when rising, as shown in Figure 57(C), the upper blades (1011a, 1012a) and the lower blades (1011b, 1012b) are controlled to be arranged in a straight line. When it is desired to move in the air in a horizontal or inclined direction, as shown in Figure 57(A), the upper blades (1011a, 1012a) and the lower blades (1011b, 1012b) are controlled to be arranged at right angles. Here, when moving horizontally in the air, the upper blades (1011a, 1012a) and the lower blades (1011b, 1012b) do not necessarily need to be configured at right angles; for example, the angle can be adjusted within the range of 60 to 120 degrees. The cylindrical rotating bodies 1010 connected by the connecting member 1020 are not limited to the number shown; any number of cylindrical rotating bodies 1010 can be connected by the connecting member 1020.

[0136] Furthermore, the movable part 1003 is configured to be movable relative to the fixed part 1002. For example, when the modified work device 1000 lands on the ground G, the control unit moves the movable part 1003 to its highest position, which allows the lower blades (1011b, 1012b) to move and rise to a position where they do not touch the ground G. On the other hand, when moving in the air in a horizontal or inclined direction, the control unit moves the movable part 1003 downward a predetermined distance from its highest position, and can move it in an optimal center of gravity state during horizontal or inclined movement according to changes in acceleration or wind conditions. The movable part 1003 is detachable from the fixed part 1002, and multiple combinations of cylindrical rotating bodies 1010 and blades (1011, 1012) with different patterns can be installed on the fixed part 1002.

[0137] Implementation Method 31 Figure 58(A) is a side view showing the first posture of the working device 1100 according to the thirty-first embodiment, and Figure 58(B) is a side view showing the second posture. The operating device 1100 of the thirty-first embodiment, as shown in FIG58, is a manned flying vehicle configured to include a riding section (1101-1105), cylindrical rotating bodies 1110a-1110h, blade components 1111a-1111b and 1112a-1112b, and connecting components 1120a-1120f. The seating area consists of a canopy 1101, a base 1102, a seat 1103, an operating section 1104, and a cockpit frame 1105. The canopy 1101 has an opening / closing window (not shown), through which the operator can sit inside the canopy 1101. The interior of 1101 is watertight, and the operating equipment 1100 can also be used as a submarine. The base 1102 houses a control unit and power supply consisting of a GPS-enabled computer. The base 1102 is configured to rotate 360 ​​degrees relative to the cylindrical rotating bodies 1110g and 1110h. For example, as shown in Figure 58(A), the cockpit frame 1105 can be positioned above, or as shown in Figure 58(B), the cockpit frame 1105 can be positioned below. A seat 1103 and an operating unit 1104 are arranged within the cockpit frame 1105. The seat 1103 and operating unit 1104 slide on the circumferential surface as the base 1102 rotates, with the seat surface of the seat 1103 always level with the ground. Furthermore, the control unit includes a communication device (not shown) for receiving signals such as flight procedures from external devices, thereby allowing remote control of the operation of the work unit 1000. The control unit can also be configured to be remotely operated from a smartphone or similar device.

[0138] The cylindrical rotating bodies 1110a to 1110h have the same structure as the cylindrical rotating body 10 in the first embodiment. The cylindrical rotating bodies 1110a and 1110d have blade components 1111a to 1111b and 1112a to 1112b at their front ends. The working device 1100 illustrated in FIG58 has two blades composed of blade components 1111a to 1111b and 1112a to 1112b. Multiple blades are acceptable; however, having three or four or more blades allows for more flexible throttle, pitch, roll, and step movements.

[0139] The rotational speed and direction of each cylindrical rotating body 1110 can be independently controlled by the control unit, and only specific rotating bodies can be activated. The cylindrical rotating bodies 1110a to 1110f can be fixed at the connecting parts 1120a to 1120f in a state where their relative angles change. For example, according to the disclosure, when ascending, as shown in FIG58(A), the cylindrical rotating bodies 1110a and 1110d are controlled to be positioned vertically; when it is desired to move horizontally or obliquely in the air, as shown in FIG58(B), the cylindrical rotating body 1110d is controlled to be positioned at a right angle relative to the cylindrical rotating body 1110e. It should be noted that wheels or flatbeds can also be installed on the bottom surface of the base 1102. Additionally, as shown in FIG58(C), a pair of main wings 1106, 1106 can be installed on the side of the base 1102. In this case, it can be configured to accommodate the pair of main wings 1106, 1106, or it can be configured to be detachable. It can also be configured to have attachments installed on the bottom surface of the base 1102, allowing it to be mounted on vehicles (cars, trucks, agricultural vehicles, etc.), heavy construction machinery, construction machinery, civil engineering machinery, agricultural machinery (chainsaws, etc.), construction machinery, containers, baskets, ships, humanoid robots, and operational robots. A robotic hand with multiple fingers composed of wheels or linearly connected cylindrical rotating bodies can also be installed on the base 1102 (for example, the robotic hand of the sixth embodiment shown in FIG10).

[0140] Implementation Method 32 Figure 59 is a perspective view of the working device 1200 according to the thirty-second embodiment. As shown in Figure 59, the operating device 1200 of the thirty-second embodiment is a manned flying vehicle comprising a riding section (1201-1205), cylindrical rotating bodies 1210a-1210g, blade components 1211a-1211d and 1212a-1212d, and connecting components 1220a-1220d. The seating area consists of a cover 1201, a base 1202, a seat 1203, an operating unit 1204, and a bottom 1205. The cover 1201 is provided with an opening and closing window (not shown), which allows the operator to sit inside the cover 1201 by opening and closing the window. The base 1202 houses the control unit and power supply, which consists of a computer equipped with GPS. Four wheels 1206a to 1206d are installed on the bottom surface of the base 1202. Cylindrical rotating bodies 1210a to 1210g have the same structure as the cylindrical rotating body 10 in the first embodiment. Cylindrical rotating bodies 1210a to 1210d have blade members 1211a to 1211d and 1212a to 1212d at their front ends. Cylindrical rotating bodies 1210a to 1210c are arranged in a straight line along with cylindrical rotating bodies 1210e and 1210f, which function as connecting rod members. Cylindrical rotating bodies 1210b and 1210d are arranged in a straight line along with cylindrical rotating body 1210g, which functions as a connecting rod member. Cylindrical rotating body 1210g is orthogonally arranged with cylindrical rotating bodies 1210e and 1210f and is disposed in the main body, i.e., the mounting portion (1201 to 1205). The cylindrical rotating bodies 1210e to 1210f and 1210g do not necessarily have to be composed of cylindrical rotating bodies; they can also be composed of rod components without driving force. The rotational speed and direction of each cylindrical rotating body 1210 can be independently controlled by the control unit, and pitch, roll, and other movements can be performed by only moving specific rotating bodies. The cylindrical rotating bodies 1210a to 1210d can be fixed in a state where the relative angle is changed at the connecting parts 1220a to 1220d.

[0141] Implementation Method 33 Figure 60 is a perspective view of the working device 1300 according to the thirty-third embodiment. The operating device 1300 of the thirty-third embodiment is a manned flying vehicle with the same structure as the operating device 1200 of the thirty-second embodiment, except that it has three blades (1311d to 1311f and 1312d to 1312f) at the rear. Cylindrical rotating bodies 1310a to 1310j have the same structure as the cylindrical rotating body 10 in the first embodiment. Cylindrical rotating bodies 1310a to 1310f have blade components 1311a to 1311f and 1312a to 1312f provided on their surfaces. Cylindrical rotating bodies 1310a to 1310c are arranged in a straight line along with cylindrical rotating bodies 1310g and 1310h, which function as connecting rod components. Cylindrical rotating bodies 1310d to 1310f are arranged in a straight line along with cylindrical rotating bodies 1310i and 1310j, which function as connecting rod components. Cylindrical rotating bodies 1310d to 1310f are arranged in a straight line along with cylindrical rotating bodies 1310i and 1310j, which function as connecting rod components. Cylindrical rotating bodies 1310b and 1310e are arranged in a straight line along a cylindrical rotating body 1310k, which functions as a connecting rod component. Cylindrical rotating body 1310k is orthogonally arranged with cylindrical rotating bodies 1310g and 1310h, and is disposed in the main body, i.e., the mounting section 1301. Cylindrical rotating bodies 1310g to 1310k do not necessarily have to be cylindrical rotating bodies; they can also be rod components without driving force. The rotational speed and direction of each cylindrical rotating body 1310 can be independently controlled by the control unit, and pitch, roll, and other movements can be performed by only moving specific rotating bodies. The cylindrical rotating bodies 1310a to 1210f can be fixed in a state where the relative angle is changed at the connecting parts 1320a to 1320f. Since the working device 1300 of the thirty-third embodiment has three blades (1311d to 1311f and 1312d to 1312f) at the rear, it can perform throttle, pitch, roll, and step movements more flexibly compared with the thirty-second embodiment.

[0142] Implementation Method 34 Figure 61(A) is a top view of the working device 1400 according to the thirty-fourth embodiment. As shown in Figure 61(A), the operating device 1400 of the thirty-fourth embodiment is a manned flying vehicle equipped with a riding section (1401-1406), cylindrical rotating bodies 1410a-1410d, and blade components 1411a-1411d and 1412a-1412d. The passenger compartment consists of a canopy 1401, a cockpit base 1402, a seat 1403, an operating section 1404, a floor section 1405, and an inner frame 1406. An opening and closing window (not shown) is provided in the canopy 1401, through which the operator can sit inside the canopy 1401. The cockpit base 1402 houses the control unit and power supply, which consists of a computer equipped with GPS. A rotating device is installed on the back side of the disc-shaped floor section 1405, which allows the floor section 1405 to rotate 360 ​​degrees relative to the inner frame 1406. The inner frame 1406 is located above the outer frames 1407a, 1407b, the front frame 1408, and the rear frame 1409. The rotational speed and direction of each cylindrical rotating body 1410 can be independently controlled by the control unit, and pitch, roll and other movements can be performed by only making specific rotating bodies move. The cylindrical rotating bodies 1410a to 1410g have the same structure as the cylindrical rotating body 10 in the first embodiment, and blade components 1411a to 1411d and 1412a to 1412d are provided at the upper end. The cylindrical rotating bodies 1410a to 1410g are respectively provided at both ends of the outer frames 1407a and 1407b, and are arranged in a rectangular shape when viewed from above. Figure 61(B) is a side view of a modified example of the working device 1400, which includes a pair of main wings 1430a and 1430b. A jet engine may also be mounted on the pair of main wings 1408a and 1408b, or it may be housed in the outer frames 1407a and 1407b, or it may be configured to be detachable. It should be noted that the outer frames 1407a and 1407b, the front frame 1408, and the rear frame 1409 may also be constructed from a cylindrical rotating body 1410.

[0143] Implementation Method 35 Figure 62(A) is a top view of the working device 1500 according to the thirty-fourth embodiment, and Figure 62(B) is a side view. As shown in Figure 62, the operating device 1500 of the thirty-fifth embodiment is a manned flying vehicle comprising a riding section (1501-1505), cylindrical rotating bodies 1510a-1510i, blade components 1511a-1511d and 1512a-1512d, and connecting components 1520a-1520f. The passenger compartment consists of a canopy 1501, a cockpit base 1502, a seat 1503, an operating section 1504, a floor 1505, and an inner frame 1506. An opening / closing window (not shown) is provided on the canopy 1501, allowing the operator to board inside. The interior of 1501 is watertight, and the operating equipment 1500 can also be used as a submarine. The base 1502 houses the control unit and power supply, which consists of a computer equipped with GPS. A rotating device is installed on the back side of the disc-shaped floor portion 1505, allowing the floor portion 1505 to rotate 360 ​​degrees relative to the inner frame 1506. The inner frame 1506 is positioned above the outer frame 1507. A robotic hand (e.g., the robotic hand of the sixth embodiment shown in FIG. 10) with multiple fingers composed of wheels or vertically connected cylindrical rotating bodies can also be provided at the lower part of the outer frame 1507. Alternatively, an accessory can be provided at the lower part of the outer frame 1507, which can be mounted on vehicles (cars, trucks, agricultural vehicles, etc.), heavy construction machinery, construction machinery, civil engineering machinery, agricultural machinery (chainsaws, etc.), construction machinery, containers, baskets, ships, humanoid robots, and construction robots. A robotic hand with fingers composed of wheels or vertically connected cylindrical rotating bodies can also be provided at the lower part of the outer frame 1507 (e.g., the robotic hand of the sixth embodiment shown in FIG. 10).

[0144] Cylindrical rotating bodies 1510a to 1510i have the same structure as the cylindrical rotating body 10 in the first embodiment. Cylindrical rotating bodies 1510a to 1510d have blade components 1511a to 1511d and 1512a to 1512d at their upper ends. Cylindrical rotating bodies 1510a to 1510g are respectively provided at each end of the cross-shaped outer frame 1507. Cylindrical rotating bodies 1510a to 1510f can be fixed to portions of connecting components 1520a to 1520f with varying relative angles. Therefore, for example, when rising, as shown in FIG. 62(B), cylindrical rotating bodies 1510a to 1510f can be positioned in the vertical direction; when moving in the horizontal or inclined direction, as shown in FIG. 62(A), a portion of cylindrical rotating body 1510 can be positioned in the horizontal or inclined direction.

[0145] Implementation Method 36 Figure 63(A) is a side view of the working device 1600 according to the thirty-sixth embodiment, and Figure 63(B) is a side view of a modified example of (A). As shown in Figure 63(A), the operating device 1600 of the thirty-sixth embodiment is an unmanned flying body configured to include a housing 1601, an opening and closing window 1602, wheels 1603a to 1603d, a frame 1604, cylindrical rotating bodies 1610a to 1610b, blade components 1611a to 1611b and 1612a to 1612b, and connecting components 1620a to 1620b. The receiving section 1601 is a space for storing goods to be transported. The opening / closing window 1602 allows goods to be stored in the receiving section 1601. At the bottom of the receiving section 1601 are a control unit, a communication unit, and a power supply, consisting of a computer equipped with GPS. The wheels 1603a to 1603d are configured to move automatically via a drive source (not shown). Cylindrical rotating bodies 1610a-1610c have the same structure as the cylindrical rotating body 10 in the first embodiment. Cylindrical rotating bodies 1610a-1610b have blade components 1611a-1611b and 1612a-1612b at their front ends, and their roots are connected to connecting components 1620a-1620b. Cylindrical rotating bodies 1610a-1610b can be fixed in a state where the relative angle changes at a portion of the connecting components 1620a-1620b. For example, when moving upwards, cylindrical rotating bodies 1610a-1610b can be positioned in the vertical direction; when moving horizontally or inclined, as shown in FIG. 63(A), cylindrical rotating bodies 1610b can be positioned in the horizontal or inclined direction. The connecting parts 1620a to 1620b are movably connected to the frame 1604 provided at the upper end of the receiving part 1601. The frame 1604 may also be configured to be movable relative to the receiving part 1601.

[0146] In the modified example shown in Figure 63(B), the frame 1604 is provided on the side of the housing 1601. Since the components labeled with the same reference numerals as those in Figure 63(A) are of the same structure, descriptions are omitted in Figure 63(B). In the modified example shown in Figure 63(B), for example, when rising, the cylindrical rotating bodies 1610a to 1610b can be positioned in the vertical direction; when moving in the horizontal or inclined direction, as in Figure 63(B), the cylindrical rotating body 1610b can be positioned in the horizontal or inclined direction. It should be noted that the housing 1601 can also be configured to carry people, forming a vehicle that can transform into a manned flying vehicle. The working device 1600 can also be used as agricultural machinery (agricultural vehicle), construction machinery (construction vehicle), or transportation machinery (transport vehicle).

[0147] Implementation Method 37 Figure 64(A) is a perspective view of the working device 1700 according to the thirty-seventh embodiment. As shown in Figure 64(A), the working device 1700 of the thirty-seventh embodiment is a flying body that includes a main body 1701, cylindrical rotating bodies 1710a to 1710o, blade components 1711a to 1711e and 1712a to 1712e, connecting components 1720a to 1720j, and root connecting components 1730a to 1730e. The main body 1701 includes a loading section 1702 for loading goods, a guide rail 1703 for mounting root connecting parts 1730a to 1730e, an annular groove 1704 for embedding a moving device (not shown) that moves the root connecting parts 1730a to 1730e along the guide rail 1703, and a detection mechanism (not shown). The housing of the main body 1701 houses a control unit, a communication unit, and a power supply, all equipped with a GPS-enabled computer, enabling remote control of the cylindrical rotating body 1710, the connecting member 1720, and the root connecting member 1730. The detection mechanism (not shown) is the same as the detection mechanism 830 of the twenty-fourth embodiment.

[0148] The cylindrical rotating bodies 1710a to 1710o have the same structure as the cylindrical rotating body 10 in the first embodiment. The cylindrical rotating bodies 1710a to 1710e have blade components 1711a to 1711e and 1712a to 1712e at their front ends. The rotational speed and direction of each cylindrical rotating body 1710 can be independently controlled by the control unit, and only specific rotating bodies can be activated. The cylindrical rotating bodies 1710a to 1710o can be fixed in a state of changing relative angles at the connecting parts 1720a to 1720j and the root connecting parts 1730a to 1730e. As shown in the variant example in Figure 64(B), the structure can also be configured with a pair of main wings 1741 and 1742, in which case it can be configured to be accommodating or detachable. It should be noted that a structure with jet engines or blades on the main wings 1741 and 1742 can also be adopted.

[0149] In the working device 1700 of the thirty-seventh embodiment, cylindrical rotating bodies 1710a, 1710f, and 1710k constitute the first finger, cylindrical rotating bodies 1710b, 1710g, and 1710l constitute the second finger, cylindrical rotating bodies 1710c, 1710h, and 1710m constitute the third finger, cylindrical rotating bodies 1710d, 1710i, and 1710n constitute the fourth finger, and cylindrical rotating bodies 1710e, 1710j, and 1710o constitute the fifth finger. That is, the working device 1700 can be configured to be used like a robotic hand with exactly five fingers. By bending the cylindrical rotating bodies 1710f to 1710o at the connecting parts 1720f to 1720j and / or the root connecting parts 1730a to 1730e, goods loaded in the loading section 1702 can be grasped. Even in this case, the working device 1700 can be made to fly by adjusting the angle of the cylindrical rotating bodies 1710a-1710e with blades at the connecting parts 1720a-1720e. It should be noted that a structure with five fingers is illustrated in Figure 64, but it can be changed as long as the number of fingers is multiple. Furthermore, since the positional relationship between the first to fifth fingers can be adjusted by moving the root connecting parts 1730a to 1730e along the guide rail 1703, the goods can be properly secured according to their size and shape. In this embodiment, a structure for loading goods in the loading section 1702 is illustrated, but the loading section 1702 may also be formed from the surface of a solar panel. In this case, it is preferable to provide a loading space for loading goods below the main body 1701. A basket for transporting goods may also be provided below the main body 1701. It may also be configured such that an accessory is provided on the bottom surface of the main body 1701, which can be mounted on vehicles (cars, trucks, agricultural vehicles, etc.), heavy construction machinery, construction machinery, civil engineering machinery, agricultural machinery (chainsaws, etc.), construction machinery, containers, baskets, ships, humanoid robots, and work robots. A robotic hand with multiple fingers composed of wheels or cylindrical rotating bodies connected in a straight line may also be provided below the main body 1701 (for example, the robotic hand of the sixth embodiment shown in FIG10).

[0150] Implementation Method 38 Figure 65 is a perspective view of the working device 1800 according to the thirty-eighth embodiment. As shown in Figure 65(A), the working device 1800 of the thirty-eighth embodiment is a flying body comprising a main body (1801, 1802), cylindrical rotating bodies 1810a to 1810o, blade components 1811a to 1811e and 1812a to 1812e, connecting components 1820a to 1820j, and root connecting components 1830a to 1830e. The main body consists of an upper body 1801 and a lower body 1802, and can be bent at the bending portion 1803, forming a recess in the main body. A sliding mechanism (not shown) is provided on the side of the upper body 1801, on which root connecting members 1830a to 1830d are slidably mounted. The lower body 1802 has a sliding mechanism 1804 on which the root connecting member 1830e is slidably mounted. The shaded areas on the upper body 1801 and the lower body 1802 represent recesses. The main body (1801, 1802) houses a control unit, a communication unit, and a power supply, all equipped with a GPS-enabled computer. This allows for remote control of the cylindrical rotating body 1810, the connecting member 1820, and the root connecting member 1830. Furthermore, the main body (1801, 1802) possesses the same detection mechanism (not shown) as the detection mechanism 830 in the twenty-fourth embodiment. The working device 1800 of the thirty-eighth embodiment can, of course, be used as a flying vehicle or as a robotic arm. Here, Figure 65 shows a structure with five fingers, but the number of fingers can be varied. It should be noted that it can also be configured to have a pair of main wings on the main body (1801, 1802), in which case it can be configured to be accommodating or detachable. A frame for transporting goods can also be provided below the main body 1701. It can also be configured to have an attachment provided on the bottom surface of the main body 1801, which can be mounted on vehicles (cars, trucks, agricultural vehicles, etc.), heavy engineering machinery, operating machinery, civil engineering machinery, agricultural operating machinery (chainsaws, etc.), construction machinery, containers, shell vehicles, ships, humanoid robots, operating robots, etc. A robotic arm with multiple fingers composed of wheels or cylindrical rotating bodies connected in a straight line can also be provided on the main body 1801 (for example, the robotic arm of the sixth embodiment shown in Figure 10).

[0151] Implementation Method 39 Figure 66(A) is a side view illustrating the first posture of the working device 1900 according to the thirty-ninth embodiment, and Figure 66(B) is a side view illustrating the second posture. As shown in Figure 66(A), the working device 1900 of the thirty-ninth embodiment has a lift-generating mechanism and is a flying car 1902. The lift-generating mechanism of the working device 1900 is composed of a base 1901, cylindrical rotating bodies 1910a to 1910d, blade components 1911a to 1911b and 1912a to 1912b, connecting components 1920a to 1920d, etc. The working device 1900 includes a control unit (not shown) for controlling the drive of the cylindrical rotating body 1910 and the connecting member 1920. Each cylindrical rotating body 1910 can be bent in any direction at the location of each connecting member 1920, and can adopt different postures during walking and flying. For example, during walking, as shown in FIG66(B), the blades (1911a~1911b, 1912a~1912b) can be bent inward without hindering walking. Figure 66(C) is a side view of the working device 1900' of the modified embodiment of the thirty-ninth embodiment. The modified working device 1900' differs from the working device 1900 of the thirty-ninth embodiment in that it includes cylindrical rotating bodies 1910e-1910f and connecting parts 1920e-1920f. The modified working device 1900' can also adopt different postures when walking and flying. When walking, as shown in Figure 66(C), the blades (1911a-1911b, 1912a-1912b) can be bent towards the vehicle side without obstructing movement. A pair of main wings can also be provided on the side of the base 1901; in this case, it can be configured to accommodate the pair of main wings or to be detachable.

[0152] Implementation Method 40 Figure 68 is a side view of the working device 890 according to the fortieth embodiment. The working device 870 of the fortieth embodiment is a variation of the working device 870 shown in Figure 54(B), mainly differing in that it has telescopic mechanisms 90a to 90c. The vertical telescopic mechanism 90a is a mechanism for adjusting the height in the vertical direction. For example, it can be a hydraulic telescopic cylinder 90 as shown in Figure 27, or a suspension, air spring, elastomer, actuator, or motor. In Figure 68, four vertical telescopic mechanisms 90a are provided, but the number of vertical telescopic mechanisms 90a can be multiple, or even three or five or more. The body width telescopic mechanism 90b is a mechanism for adjusting the width of the body 871, for example, it is the telescopic cylinder 90 shown in Figure 27. The wheel width direction telescopic mechanism 90c is a mechanism for adjusting the distance between the side end components 876 and 876b in the width direction, for example, it is the telescopic cylinder 90 shown in Figure 27. According to the working device 890 of the fortieth embodiment, since it is equipped with telescopic mechanisms 90b to 90c, cylindrical rotating bodies 872 of different lengths can be installed, and the number of cylindrical rotating bodies 872 can be reduced or increased. Furthermore, since it is equipped with telescopic mechanism 90a, cylindrical rotating bodies with different shapes of outer casings can be installed. Since the intermediate components 875a and 875b are made of the same flexible material as the intermediate component 855, they can deform according to the unevenness of the ground and can move while deforming even when encountering obstacles.

[0153] Implementation Method 41 Figure 69 is a top view of the working device 2000 according to the forty-first embodiment. The working device 2000 of the forty-first embodiment is a mouthpiece-type working device comprising a main body 2001, a back cleaning rotating mechanism 2010 for rubbing the back of the teeth, and a front cleaning rotating mechanism 2020 for rubbing the front of the teeth. A handle may also be provided near the bottom surface of the U-shape of the main body 2001 (pressing member 2022c), and it can be easily put on and taken off by a third party to the patient. The rotating mechanism 2010 for cleaning the back includes cylindrical rotating bodies 2011a to 2011j, pressing parts 2012a to 2012e, connecting parts 2013a to 2013i, and end connecting parts 2014a and 2014b. Similar to the cylindrical rotating body 210 of the sixteenth embodiment shown in FIG. 35, the cylindrical rotating bodies 2011a-2011j have a large amount of bristle material (not shown) implanted on their surface, allowing for brushing by rotating the cylindrical rotating bodies 2011a-2011j. The cylindrical rotating bodies 2011a-2011j are connected by flexible connecting members 2013a-2013i. Connecting members 2013b, 2013c, 2013e, 2013g, and 2013h are pressed by pressing members 2012a-2012e. A power button (not shown) is provided on the main body 2001. When the power button is pressed, the pressing members 2012a-2012e protrude, and the cylindrical rotating bodies 2011a-2011j are pressed against the back of the teeth, causing the cylindrical rotating bodies 2011a-2011j to rotate. The drive mechanism that causes the pressing parts 2012a to 2012e to protrude is, for example, composed of a ball screw and a motor. The end connecting parts 2014a and 2014b are flexible and supply power to the cylindrical rotating bodies 2011a to 2011j from the power source (not shown) provided by the main body 2001.

[0154] The front-cleaning rotating mechanism 2020 includes cylindrical rotating bodies 2021a-2021h, pressing members 2022a-2022e, connecting members 2023a-2023m, and end connecting members 2024a and 2024b. Like cylindrical rotating bodies 2011, cylindrical rotating bodies 2021a-2021h have a large amount of bristle material (not shown) implanted on their surface, allowing for brushing through rotation. The cylindrical rotating bodies 21a-2021h are connected by flexible connecting members 2023a-2023m. Connecting members 2023c, 2023e, 2023g, 2023i, and 2023k are pressed by the pressing members 2022a-2022e. When the power button (not shown) of the main body 2001 is pressed, the pressing parts 2022a to 2022e protrude and the cylindrical rotating bodies 2021a to 2021h are pressed against the front of the teeth, and the cylindrical rotating bodies 2021a to 2021h rotate. The working device 2000 is used by attaching the upper or lower teeth to the groove 2030 like a mouthpiece. The number of cylindrical rotating bodies 2011, pressing parts 2012, cylindrical rotating bodies 2021 and pressing parts 2022 shown in Figure 69 is illustrative and can be increased or decreased (as a minimum structure, the back cleaning rotating mechanism 2010 and the front cleaning rotating mechanism 2020 can be composed of three cylindrical rotating bodies 2011 respectively).

[0155] Implementation Method 42 Figure 70 is a side view of the working device 2100 according to the forty-second embodiment. The working device 2100 of the forty-second embodiment is a manned aircraft equipped with a well-shaped blade mechanism. Cylindrical rotating bodies 2110a to 2110h have the same structure as the cylindrical rotating body 10 in the first embodiment. Blade components 2111a to 2111h and 2112a to 2112h are provided on the surface of the cylindrical rotating bodies 2110a to 2210b. Cylindrical rotating bodies 2110a to 2210b are arranged in a straight line via connecting rod components 2113a and 2215a, 2115b, and cylindrical rotating bodies 2110c to 2110d are arranged in a straight line via connecting rod components 2113b and 2215c, 2115d. Cylindrical rotating bodies 2110e and 2210g are arranged on the same straight line via connecting rod component 2114a, and cylindrical rotating bodies 2110f and 2110h are arranged on the same straight line via connecting rod component 2114b. A main wing 2116a is provided on the connecting rod component 2114a, and a main wing 2116b is provided on the connecting rod component 2114b. A jet engine may also be provided on the pair of main wings 2116a and 2116b, or it may be configured to be housed in the connecting rod components 2114a and 2114b, or it may be configured to be detachable. A flat plate portion constituting a loading unit may also be installed on the connecting rod components 2113a, 2113b, 2114a, and 2114b, or a passenger-carrying unit may be provided. The rotational speed and direction of each cylindrical rotating body 2110 can be independently controlled by a control unit (not shown), and pitch, roll, and other movements can be performed by moving only specific rotating bodies. The cylindrical rotating bodies 2110a to 2110h can be fixed at the connecting parts 2120a to 2120h with a changed relative angle. For example, the blade components 2111a to 2111h and 2112a to 2112h of all cylindrical rotating bodies 2110a to 2110h can be fixed upwards or horizontally.

[0156] Implementation Method 43 Figure 71(A) is a perspective view of the working device 2200 according to the forty-first embodiment. The working device 2200 of the forty-third embodiment is a variation of the working device 703 of the twenty-sixth embodiment shown in Figure 53. The same reference numerals are used for structural elements that are the same as those in the working device 703, and the descriptions are omitted. The working device 2200 of the forty-third embodiment is movable along three elongated members R1 to R3, forming an agricultural tunnel by mounting a cover member, i.e., vinyl resin (not shown). The number of unit working devices 703 connected to the frame 707 is not limited to the three illustrated units, but can be any number of units. The bodies 704a to 704c of the unit working devices 703a to 703c can also be connected by rod-shaped members. The unit operating devices 703a to 703c are equipped with telescopic mechanisms 2201a to 2201c in the wheel support portions 711a to 711c and telescopic mechanisms 2202a to 2202c in the wheel support portions 712a to 712c. Even when the ground is uneven, the telescopic mechanisms 2201a to 2201c and 2202a to 2202c absorb the unevenness, thus enabling stable movement.

[0157] Implementation Method 44 Figure 72(A) is a side view of the working device 2300 according to the forty-fourth embodiment, and Figure 72(B) is a bottom view. The working device 2300 of the forty-fourth embodiment is a variation of the working device 903 of the twenty-eighth embodiment shown in Figure 55. The same reference numerals are used for structural elements that are the same as those in the working device 903, and the descriptions are omitted. The cylindrical rotating bodies 910a to 910f have the same motor mechanism as the cylindrical rotating body 10, and bristles that function as cleaning brushes are provided on the surface of the outer body. The connecting parts 920a to 920d can be fixed by changing the angle between the connected cylindrical rotating bodies 910. The main body 2301 includes a cylindrical rotating body 2303, wheels 2304a and 2304b, a telescopic mechanism 2305, a handle 2306, a control device (not shown), and a power supply (not shown). The island portion 2032, serving as a sub-unit, is connected to the main body 2301 via the telescopic mechanism 2305. The telescopic mechanism 2305 is a mechanism for adjusting the distance between the main body 2301 and the island portion 2032, and for example, is composed of a telescopic cylinder as shown in FIG. 27. Since the distance between the root connecting parts 914a and 914b can be adjusted via the telescopic mechanism 2305, it can be installed in bathtubs with different sidewall thicknesses. A telescopic mechanism identical to the telescopic mechanism 2305 can also be provided between the wheels 2304a and the root connecting part 914a.

[0158] Wheels 2304a and 2304b are wheels used to move on the upper surface of the bathtub sidewalls and are driven by a motor (not shown). Cylindrical rotating body 2303, like cylindrical rotating body 910, has a motor mechanism and a cleaning brush mounted on the surface of the outer casing, and can clean the upper surface of the bathtub sidewalls. Cylindrical rotating bodies 910a and 910c are rotating bodies used to clean the inner surfaces of the bathtub sidewalls, cylindrical rotating body 910d is used to clean the upper surface of the bathtub sidewalls, cylindrical rotating body 910e is used to clean the outer surfaces of the bathtub sidewalls, and cylindrical rotating body 910f is used to clean the laundry room floor. It is also possible to configure an automatic walking vacuum cleaner to be connected to the front end of cylindrical rotating body 910f. A telescopic mechanism for adjusting the vertical height (e.g., the telescopic cylinder 90 shown in FIG. 27) can also be provided on the root connecting parts 914a and 914b.

[0159] The preferred embodiments of the present invention have been described above, but the technical scope of the present invention is not limited to the embodiments described above. Various modifications / improvements can be applied to the above embodiments, and embodiments with such modifications / improvements are also included within the technical scope of the present invention.

[0160] In any of the above embodiments, a secondary battery can be used as the power source. In this case, the structure can also be designed to be charged using radio waves via a known method. Alternatively, it can be designed to receive power from a solar power generation device, or from a battery in a machine attached to an accessory such as a car. It can also be designed to be directly connected to a commercial power source or generator for power supply. For example, in embodiments designed as aircraft, it can be used as a radio station during a disaster, and can fly while being charged via a power cable.

[0161] In the control unit of any of the above embodiments, a route generation function and a map update function utilizing artificial intelligence can be applied. The route generation function does not require communication with an external server using an environment map stored in the control unit's storage device, but instead allows the control unit's processing device to generate a route for autonomous walking. The map update function uses signals from a distance sensor (e.g., an ultrasonic sensor) to determine the position and shape information of surrounding objects, and updates the surrounding map in real time while walking. In all the devices described in the above embodiments that do not have a wireless communication device, this can be changed to enable remote operation by providing a wireless communication device. Furthermore, the control unit in any of the above embodiments can also be configured to be remotely operated via wireless communication from a smartphone or the like.

[0162] Furthermore, by installing accessories different from the connecting component 20 on the cylindrical rotating body 10 or the rotating body assembly 1, the cylindrical rotating body 10 or the rotating body assembly 1 can be used for various purposes. For example, it can be configured to have a rope that can be wound around the cylindrical rotating body 10 by rotation attached to the cylindrical rotating body 10. Thus, the cylindrical rotating body 10 can be used as a winch. In addition, by installing a suction port and a suction mechanism on the cylindrical rotating body 10, the cylindrical rotating body 10 can also be used as a vacuum cleaner to suck up garbage, etc. Furthermore, by installing a brush on the outer body 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a vacuum cleaner that blows pressurized air to sweep away or suck up garbage, etc. As an example of a device that uses the cylindrical rotating body 10 as such a vacuum cleaner, a device can be given that uses the cylindrical rotating body 10 with a brush attached to reciprocate across the surface of a solar panel to sweep up dust and the like from the surface of the solar panel, and a device for clearing snow from the roof. In this configuration, by inputting a program that causes the cylindrical rotating body 10 to reciprocate across the surface of the solar panel at predetermined intervals, it can be used as a cleaning robot that reciprocates across the surface of the solar panel at predetermined intervals. Furthermore, by constructing the elongated cylindrical rotating body 10, it can also be effectively used for cleaning gaps in furniture, etc. In addition, by installing blades 19 on a portion of the cylindrical rotating body 10, lint and dust on carpets and suits can be removed simultaneously. Furthermore, mechanisms for air jetting and drainage can be installed on the cylindrical rotating body 10. Moreover, it can be configured to install a water suction (drainage) mechanism and a snow removal mechanism on the cylindrical rotating body 10. Additionally, blades 19 can be installed on the outer casing 13 of the cylindrical rotating body 10 to function as an auger (snow removal mechanism) for a rotary snowplow.

[0163] Additionally, by installing accessories for gripping ropes and guide rails on the cylindrical rotating body 10 with blades 19, it can also be used as a roof snowplow that moves along ropes and guide rails. Furthermore, by increasing the size and weight of the cylindrical rotating body 10, it can also be used as a road roller. Figure 33 is a bottom view showing a structural example when the cylindrical rotating body 10 is used as a road roller 74. The illustrated road roller 74 includes a first row of rollers consisting of three cylindrical rotating bodies 10i, a second row of rollers consisting of two cylindrical rotating bodies 10i, and a roller connecting frame 75 connecting the first and second roller rows. The second row of rollers is configured in a serrated shape, such that the cylindrical rotating bodies 10i are located at a position overlapping with the connecting parts 20i of the first row of rollers. It should be noted that the number of cylindrical rotating bodies 10i constituting the first and second roller rows is not limited to the illustrated number, and the number of roller rows can also be three or more.

[0164] Furthermore, by attaching a sponge to the outer casing 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can also be used as a painting device. Additionally, by attaching a crushing protrusion to the outer casing 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can also be used as a roller of a crusher. Moreover, by attaching a digging or agricultural tool to one end of the cylindrical rotating body 10, the cylindrical rotating body 10 can also be used as an excavator, tiller, or agricultural implement for digging, cultivating, weeding, etc., by rotating the cylindrical rotating body 10.

[0165] Furthermore, by attaching accessories to the front end of the cylindrical rotating body 10, it is possible to perform tasks such as trimming, brushing, massaging, skin care, scalp care, and shampooing on animals. In addition, by attaching tools such as screwdrivers, small utensils, wrenches, pliers, trimmers, chainsaws, cutters, drill bits, electric saws, rebar hooks, and brushes to the cylindrical rotating body 10, it can also be used as a power tool. Furthermore, kitchen utensils can be attached to the outer casing 13 of the cylindrical rotating body 10 for use. For example, by attaching stirring blades to the cylindrical rotating body 10, it can be used as a mixer; alternatively, by attaching blades to the outer casing 13, it can be used as a blender. It should be noted that these structures can utilize known techniques (hereinafter the same applies). Furthermore, the aforementioned accessories, like the connecting component 20, have a connecting portion capable of connecting to the second connecting portion 15 of the cylindrical rotating body 10 (hereinafter the same applies).

[0166] In addition, the first embodiment described above illustrates a structure in which the cylindrical rotating body 10 is used as the wheel of a flatbed cart, but it is not limited to this structure. For example, the cylindrical rotating body 10 can also be used as the wheel of a mobile body for transporting people or goods. For example, by installing the cylindrical rotating body 10 at the grounding part of a stretcher or extension, a mobile stretcher or extension can be constructed. Furthermore, by installing the cylindrical rotating body 10 at the grounding part of a nursing bed, a mobile nursing bed can be constructed. Moreover, by installing the cylindrical rotating body 10 on the upper surface of a nursing bed, it can also be used as a nursing bed with a massage function for patients who are unable to turn over. Furthermore, by installing and assembling brushes on multiple cylindrical rotating bodies 10, it can also be used as an assembled car wash machine, a bathtub vacuum cleaner, or a toilet vacuum cleaner.

[0167] Furthermore, in the seventh embodiment described above, as shown in FIG11, a working device 4 is illustrated by connecting multiple cylindrical rotating bodies 10 in the width direction via long connecting members 25a and 25b. However, in addition to this structure, it can also be configured with tracks (or chains) mounted on the rotating body assembly 1c. This allows for easier rotation and movement even on uneven roads, and can also be used as a disaster relief robot. Furthermore, in the fifth embodiment described above, a rotating body assembly 1b is illustrated by connecting multiple cylindrical rotating bodies 10 in the length direction and being able to rotate on multiple connecting members 22. In addition to this structure, the rotating body assembly 1b can also be used as a snake-like disaster relief robot. For example, in such a snake-like disaster relief robot, the entire body can bend by controlling the connecting members 22, and the rotation of the cylindrical rotating bodies 10 can be controlled for free movement. Furthermore, by mounting cameras and sensors on the cylindrical rotating bodies 10, it can also be used for inspecting the interior of pipes.

[0168] In addition, in the eighth and ninth embodiments described above, a structure is illustrated in which the cylindrical rotating body 10 or the rotating body assembly 1 is used as an agricultural implement or a component thereof. However, for example, by installing a mechanism for disinfection or pesticide application on the cylindrical rotating body 10, the cylindrical rotating body 10 or the rotating body assembly 1 can be used for disinfection or pesticide application. In this case, by controlling the movement of the cylindrical rotating body 10 (timing of pesticide application) so that application is only in one direction, it is possible to prevent pesticides from being applied to unexpected locations. Alternatively, a structure can be configured to apply pesticides in a predetermined direction by installing an air-generating mechanism on the cylindrical rotating body 10. Furthermore, a structure can be configured to install the cylindrical rotating body 10 or the rotating body assembly 1 on the finger portion of a glove that can be worn by people. Thus, an operator can pull grass from the ground by grasping it and rotating the cylindrical rotating body 10, and an operator can pick fruits and vegetables by grasping them and rotating the cylindrical rotating body 10. Furthermore, in the forestry field, by mounting the rotating assembly 1 as a wheel on the tree trunk and then mounting the blade 19 on the cylindrical rotating body 10, and moving (lifting) along the tree, branches can be pruned (pruning) or bark can be peeled off, processing the tree into timber. Alternatively, the structure can be configured such that the rotating assembly 1, composed of cylindrical rotating bodies 10 with blades 19 mounted, is connected in a serpentine pattern along its length, and this assembly moves in a climbing motion to perform pruning. In addition, by mounting a camera and speaker or light source on the cylindrical rotating body 10, it can also be used for safety equipment or pest control. It should be noted that a robotic arm equipped with the aforementioned cylindrical rotating body 10 can also be used for timber processing and pruning.

[0169] In addition to the embodiments described above, the structure can also be configured such that the cylindrical rotating body 10 or the rotating body assembly 1 is installed on the sole of a wearable shoe. This allows the person to move even without taking a step. Furthermore, when the rotating body assembly 1 is installed on the sole of the shoe, it is preferable to use a control device to control the braking of each cylindrical rotating body 10 to prevent the person from falling.

[0170] In addition to the embodiments described above, a cylindrical rotating body 10 or a rotating body assembly 1 can be installed on a mobile body such as a camera vehicle or a drone to form an operating device. For example, the cylindrical rotating body 10 or the rotating body assembly 1 can be used instead of the wheels of a camera vehicle or a vehicle other than a camera vehicle. Furthermore, when the cylindrical rotating body 10 is installed on a drone, by installing weeding, harvesting, and watering functions on the cylindrical rotating body 10, agricultural support can be provided from the air even in environments with poor footing. In addition, the cylindrical rotating body 10 or the rotating body assembly 1 can be used to replace vehicles such as weeders, tillers, agricultural machinery, vacuum cleaners, and industrial robots.

[0171] Furthermore, the cylindrical rotating body 10 or the assembly of rotating bodies 1 can also be used as a medical device. For example, by making the cylindrical rotating body 10 smaller and mounting a blade of a medical scalpel (including an electrosurgical scalpel) on it, it can be used as a medical scalpel. Additionally, by irradiating a portion of the cylindrical rotating body 10 with laser light, it can be used as a laser scalpel. In this case, by rotating the cylindrical rotating body 10, the laser can be irradiated to a free position of 360°. Furthermore, by mounting the cylindrical rotating body 10 to the front end of a rod-shaped base and rotating it, it can also be used for purposes such as applying medication to the back. Besides this, the cylindrical rotating body 10 or the assembly of rotating bodies 1 can also be used as a beauty device. For example, by mounting a blade 19 on the cylindrical rotating body 10, it can be used as a razor. Furthermore, as shown in FIG11, by mounting blades specifically for beards, sideburns, etc., on multiple cylindrical rotating bodies 10, beards and sideburns can be shaved simultaneously. Furthermore, a razor capable of shaving the entire face in one go can be made by assembling multiple cylindrical rotating bodies 10 in a rotating body assembly that surrounds the entire face from the nose. This allows, for example, a groomer to easily shave the beard of a client. In addition to being limited to razors, it can also be used for hair trimming and removing hangnails. Furthermore, by designing the cylindrical rotating bodies 10 without blades, it can also be used for facial and body massage. Moreover, the cylindrical rotating bodies 10 can be used for makeup and skincare. When used for facial massage or makeup and skincare, by assembling the rotating bodies to cover the entire face, the entire face can be massaged at once, and makeup can be removed and cleansed by applying powder puffs to the surface of the rotating body assembly. Additionally, the cylindrical rotating bodies 10 can be incorporated into a pillow to serve as a massager for the head, neck, shoulders, and back; a vibration function can also be provided.

[0172] In addition, in the third embodiment described above, an example is shown where the cylindrical rotating body 10 or the rotating body assembly 1 is programmed to function as an educational toy. Besides this structure, a plate or equivalent component can be attached to one end of the rotating body assembly 1 to create a plate-spinning toy. This allows for competitions to determine the number of cylindrical rotating bodies 10 that can spin the plate. Furthermore, by configuring a structure where water exits from the cylindrical rotating body 10, it can also be used as a water acrobatic apparatus. Moreover, the rotating body assembly 1 can be programmed and assembled into a snake-like robot. It can also be used as the wheel of an amusement park ride such as a roller coaster. Furthermore, the rotating body assembly 1 can be used in amusement park rides such as chairs or vehicles that vibrate in sync with images, causing spectators or riders to vibrate.

[0173] In addition to the embodiments described above, a structure can also be configured where a smaller cylindrical rotating body 10 is arranged inside a larger cylindrical rotating body 10. Furthermore, the cylindrical rotating body 10 can also be used underwater and in the air. For example, by installing blades on the cylindrical rotating body 10, it can be used as a motor for underwater or surface movement; by installing multiple blades on the cylindrical rotating body 10, it can be used as a propeller (it can also be used as an underwater unmanned aerial vehicle, or as a seaweed remover). Furthermore, depending on the mounting direction of the cylindrical rotating body 10 (including horizontal and vertical directions), it can be used as a motor for underwater movement in either a horizontal or vertical direction. Additionally, the cylindrical rotating body 10 can be equipped with solar panels to supply electricity through solar power generation. Furthermore, multiple cylindrical rotating bodies 10 can be continuously arranged along roads and cargo transport paths. Thus, by rotating the cylindrical rotating body 10, people, vehicles, and goods can be transported like a conveyor belt.

[0174] In addition to the embodiments described above, cameras and speakers can be mounted on the cylindrical rotating body 10 or the rotating body assembly 1 to serve as security devices. In this case, for example, as in the fifth embodiment, by gripping the pole with the rotating body assembly 1, the vertically erected pole can be used as a mobile security camera / speaker. Furthermore, by installing a heating mechanism, it can also be used as a self-propelled iron. Moreover, the cylindrical rotating body 10 can also be used in internal combustion engines, engines (including hybrid engines, rocket engines, and hydrogen engines), and generators.

[0175] Alternatively, the cylindrical rotating body 10 or the assembly of rotating bodies 1 can be mounted on fishing gear for use. For example, the roller of a net-hauling crane can be designed as a cylindrical rotating body 10. Furthermore, the cylindrical rotating body 10 can also be used to construct reels mounted on fishing rods, fishing gear, winches for hauling in nets, etc.

[0176] Furthermore, the cylindrical rotating body 10 or the rotating body assembly 1 can also be used as a vehicle tire (wheel), as a track, or as the wheel of a tram (or tram-type mobile body). This tram-type mobile body can also transport containers and travel on roads. In the sixth embodiment described above, a structure using the cylindrical rotating body 10 or the rotating body assembly 1 for a robotic arm is illustrated, but this structure can be substituted or used as a basis for the structure to form the robot's feet. For example, by installing the cylindrical rotating body 10 or the rotating body assembly 1 at the bottom of the robot's feet, the robot can move. It should be noted that in this case, the braking of each cylindrical rotating body 10 can be controlled by a control device to prevent the robot from tipping over. Furthermore, the number of feet the robot possesses is not particularly limited. Additionally, the robot's arm, main body, or legs can also be provided as cylindrical rotating bodies 10.

[0177] In addition, the aforementioned assembly of rotating bodies 1 does not need to all rotate in the same direction; the cylindrical rotating bodies 10 constituting the assembly of rotating bodies 1 can rotate independently in a controlled direction. Furthermore, each cylindrical rotating body 10 can independently control its rotation speed, whether it rotates or not.

[0178] Furthermore, in the sixth embodiment described above, a rotating body assembly 1b is illustrated that grasps a rope R and rotates and moves on the rope R. However, it is not limited to this. For example, as shown in FIG34, multiple sets of manipulators 101 arranged vertically or horizontally can be provided on the main body 57 via connectors 43. The main body 57 includes a control device for controlling the drive of the manipulators 101, a power supply, and a wireless communication device. The main body 57 is sometimes an inspection device, and sometimes a conveying unit with a conveying space. Sometimes, the rope R is set parallel to the horizontal direction rather than vertically. Alternatively, the rope R can also be a wire rope, electrical wire, reinforcing bar, guide rail, or pole.

[0179] Furthermore, in the eighth embodiment described above, a structure is shown in which the blade 19 is mounted on the outer casing 13 of the cylindrical rotating body 10. Alternatively, the blade 19 can also be mounted on the surface of the connecting member 20. In this way, by enabling the connecting member 20 to also have the same function as the cylindrical rotating body 10, even mowing and other operations can be performed when the cylindrical rotating body 10 is connected using the connecting member 20.

[0180] Additionally, as shown in Figure 25(A), the cylindrical rotating body 10 can be mounted on a vertically erected pole via a mounting member. Furthermore, as shown in Figure 25(B), the cylindrical rotating body 10 can also be mounted on a pole P extending horizontally away from the ground via a mounting member. It should be noted that the mounting member 56 is not particularly limited, and any known mounting member can be used. Thus, the cylindrical rotating body 10 can be mounted on any component using the mounting member 56. Here, the motor of the cylindrical rotating body 10 can also be a hydraulic motor, with a fuel tank containing a hydraulic pump and engine fuel integrated into the hollow portion; a hybrid drive source combining both an engine and a motor can also be provided. Additionally, a spraying device (sprayer) for applying pesticides can be mounted on the cylindrical rotating body 10. Figure 25 illustrates a structure with a single cylindrical rotating body 10, but multiple cylindrical rotating bodies 10 can also be connected in a row.

[0181] Furthermore, in the above embodiments, a structure in which a blade 19 is mounted on a cylindrical rotating body 10 is exemplified. However, the shape of the blade 19 is not particularly limited. For example, it can be a spool-type structure with multiple blades, like a razor, or a rotary structure, like a so-called "electric circular saw," in which a disc with the outer edge as a blade is mounted on the end of the cylindrical rotating body 10 and rotated to cut. It can also be a structure in which a grinding disc of a grinder is mounted on the end of the cylindrical rotating body 10 and rotated. Alternatively, it can be a structure in which only the edge of the cylindrical rotating body 10, which serves as a blade, rotates, like a chainsaw. Moreover, it can be a structure in which a comb with multiple protrusions in the shape of a comb is mounted on the outer body 13 and rotated by the cylindrical rotating body 10 to trim the head of an animal or human. In addition, by mounting blades on the cylindrical rotating body 10 like a fan, the cylindrical rotating body 10 can also be used as a dryer or a blower. When the cylindrical rotating body 10 is used as a dryer, it can also be configured to blow hot air. Furthermore, by configuring it to irradiate UV light, it can also be used as a hand dryer with sterilization function. Additionally, by installing blades on the cylindrical rotating body 10, it can also be used for wind power generation and hydropower generation. Furthermore, by configuring the cylindrical rotating body 10 with blades and blowing hot air, it can also be used in eco-toilets. Additionally, by providing blades on the cylindrical rotating body 10, it can also be used as a mixer to agitate water in farms to enrich it with air, a mixer for agricultural fertilizers, a wind turbine, and a hydroelectric generator.

[0182] Furthermore, in the fifth embodiment described above ( Figure 8 and Figure 9Figure 26(A) illustrates a structure in which a cylindrical rotating body 10 is connected by a connecting member 22 having a shaft 23. However, as shown in Figure 26(A), a structure in which multiple cylindrical rotating bodies 10 are connected by the connecting member 22 can also be used. Figure 26(B) illustrates a structure in which a flat plate 81 is mounted onto the rotating body assembly 1o shown in Figure 26(A) via the cylindrical rotating bodies 10. By connecting multiple cylindrical rotating bodies 10 with the connecting member 22, as shown in Figure 26(B), it is possible to rotate smoothly along the ground even where the ground is uneven. Furthermore, the direction of travel can be changed by making the rotational speed of each cylindrical rotating body 10 different. Additionally, steps and the like can also be moved. In particular, in the example shown in Figure 26(B), by using the cylindrical rotating body 10 as a support extending in the vertical direction and controlling the extension and retraction of the cylindrical rotating body 10, the flat plate 81 can be kept approximately horizontal even when the ground is uneven. Therefore, for example, it can be configured to place people or goods on the rotating assembly 1o and move them on uneven roads. Alternatively, for example, it can be configured to load containers or vehicles (vehicles for transporting objects) onto the rotating assembly 1o for movement. Furthermore, by replacing the wheels of strollers, suitcases, or wheelchairs with the rotating assembly 1o, strollers, suitcases, or wheelchairs can be moved smoothly. Additionally, by providing a suspension structure on the rotating assembly 1o, impact absorption can be further enhanced. Multiple rotating assemblies 1o can also be prepared and connected front to back for use.

[0183] Furthermore, in the above embodiments, the cylindrical rotating body 10 is illustrated with a structure having motors 11 and 13, but it is not limited to this structure. For example, as shown in FIG11, when multiple cylindrical rotating bodies 10 are connected in parallel, it can also be configured such that some cylindrical rotating bodies 10 do not have motors 11 and 13 but rotate with other cylindrical rotating bodies 10 that have motors 11 and 13. Explanation of reference numerals in the attached figures

[0184] 1…Assemblies of Rotation 2… Variable connection components 3…Working device (finger cot) 4…Working device 5…Working equipment (farmers) 6…Working device (flatbed truck) 8…Working device (flatbed truck) 10… Cylindrical solid of revolution 11…Stator 12…core 13…External casing (rotor) 14…First connecting part 15…Second connecting part 16… batteries 17…Control device 18…communication device 19…blades 20…Connecting parts 21…Main Body 22…Connecting component (movable shaft) 23… axis 24… pillars 25… Long strip connecting parts 26…Connecting part 27…Connecting component (movable shaft) 28… connecting rod 29… axis 30…wheels 31… Root (lower part of the bag) 33…Flange 34…plow nails (right) 35…plow nail (left) 36… Installation base 37… Bolt insertion through hole 38… Through hole 39…End flange 40… Lawn mowing device (agricultural work vehicle) 41… Lawn mowing organization 42… pillars 43…Connector 44… connecting rod 45… 46… Seeding mechanism 47…Watering Mechanism 48…Plow mechanism 49…base 50…Connecting parts 52…working device 54…walking device 55…Main part 56… Installation components 57…Connector 58… Hinges 59…Connecting components 60…working device 61…Main part 62…pulley 63… Turntable (rotary table) 64… Height Adjustment Device (Winder) 65…Opening adjustment device 66…Pruning Mechanism 67… Caster table 70… Rotating body fixing component 71…Connecting part 74…Road Roller 75…roller connecting frame 80… Flat panel section 81… Sliding Mechanism 82…Legs 83… turntable 84… Wheel fixing part 85…wheel support 86…Rotating Support 90… Telescopic cylinder 91…Cylinder Body 92… Telescopic control device 93… Accumulator 94, 95… Threaded section 96…Hydraulic cylinder 100…lifting device 101…Assembly of Rotational Bodies 102…root 110… Cylindrical Rotational Body 120…Connecting parts 203…Working device 204…Ontology 205…handle 206… airbags 207…pipe components 210… Cylindrical solid of revolution 220…Connecting parts 221…Front-end components 230…Connecting parts 231… Protective components 303…working device 304…Ontology 305…handle 310… Cylindrical solid of revolution 311…Drive Section 312… Rotating part 320…Inner Moving Mechanism 321… rack 322… Gear section 330…Outer moving mechanism 404…Ontology 405…handle 410… Cylindrical solid of revolution 411…Drive Section 412… Rotating part 504…base 505… connector 506…Mask component 507…Through-hole 508…End component 510, 540… cylindrical bodies of revolution 520, 550… connecting parts 580…Ear hook component 590… Telescopic Cylinder 603, 613, 633… working devices 604, 614, 634…ontology 605, 615…handle 606, 616... Grip section 607, 618, 620… wool material 608… Vibration device 609, 610… Vibrating plate 617, 619… Cylindrical solids of revolution 635… Cylindrical solid of revolution 636…Belt Components 637… Protective components 638… battery 700…working device 703…Unit operating device 704…Ontology 705… Support component 706… Rotating component 707…framework 711, 712… Wheel support section 713, 714... Fasteners 731, 732… wheels 803…Working Device 804…Ontology 805…Fixed Components 806…Control Department 807…Power Supply Section 810… Cylindrical Rotational Body 811, 812… Blade components 820…Connecting component 821… Attachment 830…working device 831…Main Body 832…main wing 833… Horizontal tail fin 834…Vertical tail fin 835… Cylindrical solid of revolution 836, 837… Blade components 838…Connecting component 839… Support column 840…wing connection component 850, 870… working devices 851, 871…ontology 852, 872… Cylindrical solids of revolution 853, 873… wheels 854, 874… connecting parts 855, 875... intermediate components 856, 876… Side end components 857, 877… Cover components 858…suction port 890…working device 900…working device 901… Cleaning Department 902… Cleaning Department Support Section 910… Cylindrical Rotation Body 911…Ontology 914… Root connection component 916…Main Body Drive Unit 917…Kahebu 920…Connecting components 931~934… Cylindrical Rotational Bodies 941~944…Connecting parts 950…self-propelled part Cylinders 961, 963... 962, 964… Piston rod 961~963… Cylindrical Rotational Bodies 971~973…Connecting components 980...Self-propelled department.

Claims

1. A flight device comprising: The body is capable of supporting a load on its upper surface; A first cylindrical rotating body with blades; A second cylindrical rotating body equipped with blades; A third cylindrical rotating body with blades; A fourth cylindrical rotating body equipped with blades; A first connecting component with a rotation axis that connects the first cylindrical rotating body and the third cylindrical rotating body and is capable of adjusting the angle of the first cylindrical rotating body relative to the main body; A second connecting component with a rotation axis that connects the second cylindrical rotating body and the fourth cylindrical rotating body and is capable of adjusting the angle of the second cylindrical rotating body relative to the main body; A first root connecting component with a rotation axis is disposed near the main body, connecting the third cylindrical rotating body and the main body, and capable of adjusting the angle of the third cylindrical rotating body relative to the main body; A second root connecting component with a rotation axis is disposed near the main body, connecting the fourth cylindrical rotating body and the main body, and capable of adjusting the angle of the fourth cylindrical rotating body relative to the main body. Power supply section; as well as Control unit equipped with acceleration sensor, The flight device is capable of flight using the thrust generated by rotating the blades of the first to fourth cylindrical rotating bodies. The first to fourth cylindrical rotating bodies each have a built-in motor and an outer casing with the blades mounted thereon, which rotates via the built-in motor. The control unit can adjust the angle of the first to fourth cylindrical rotating bodies connected by the first and second connecting members and the first and second root connecting members relative to the main body, as well as the rotation speed of the blades of the first to fourth cylindrical rotating bodies, based on the signal from the acceleration sensor. It has an upward mode in which the first to fourth cylindrical rotating bodies extend vertically through the first and second connecting members and the first and second root connecting members, and a loading mode in which the first to fourth cylindrical rotating bodies bend outward through the first and second root connecting members.

2. The flight device according to claim 1, wherein, The main body has two width-direction telescopic mechanisms that can adjust the distance between the first to fourth cylindrical rotating bodies in the horizontal direction.

3. The flight device according to claim 1, wherein, The main body has two vertical telescopic mechanisms that can adjust the vertical distance between the blades of the first to fourth cylindrical rotating bodies and the main body. The control unit automatically adjusts the extension and retraction of the vertical telescopic mechanism based on signals from the acceleration sensor.

4. The flight device according to claim 3, wherein, The control unit can switch between ascending mode and horizontal movement mode by independently controlling the angles of the first to fourth cylindrical rotating bodies connected by the first and second connecting parts and the first and second root connecting parts, as well as the rotation direction of the blades.

5. The flight device according to claim 1, wherein, have: A fifth cylindrical rotating body equipped with blades; A sixth cylindrical rotating body equipped with blades; A seventh cylindrical rotating body with blades; An eighth cylindrical rotating body equipped with blades; A third connecting component with a rotation axis that connects the fifth cylindrical rotating body and the seventh cylindrical rotating body and is capable of adjusting the angle of the fifth cylindrical rotating body relative to the main body; A fourth connecting component with a rotation axis that connects the sixth cylindrical rotating body and the eighth cylindrical rotating body and is capable of adjusting the angle of the sixth cylindrical rotating body relative to the main body; A third root connecting component with a rotation axis, located near the main body, connecting the seventh cylindrical rotating body and the main body, and capable of adjusting the angle of the seventh cylindrical rotating body relative to the main body; as well as A fourth root connecting member with a rotation axis, located near the main body, connecting the eighth cylindrical rotating body and the main body, and capable of adjusting the angle of the eighth cylindrical rotating body relative to the main body. The fifth to eighth cylindrical rotating bodies each have a built-in motor and an outer casing with the blades mounted thereon, which rotates via the built-in motor. The control unit can adjust the angle of the first to eighth cylindrical rotating bodies connected by the first to fourth connecting members and the first to fourth root connecting members relative to the main body, as well as the rotation speed of the blades of the first to eighth cylindrical rotating bodies, based on the signal from the acceleration sensor. It has an upward mode in which the first to eighth cylindrical rotating bodies extend vertically through the first to fourth connecting members and the first to fourth root connecting members, and a loading mode in which the first to eighth cylindrical rotating bodies bend outward through the first to fourth root connecting members.

6. The flight device according to claim 5, wherein, The control unit can switch between ascending mode and horizontal movement mode by independently controlling the angles of the first to eighth cylindrical rotating bodies connected by the first to fourth connecting parts and the first to fourth root connecting parts, as well as the rotation direction of the blades.

7. The flight device according to any one of claims 1 to 6, wherein, The main body has a storage section that serves as a space for storing goods.

8. The flight device according to claim 5 or 6, wherein, It has accessories for connecting to external vehicles, aircraft, or ships. The blades are tilted by the first to fourth connecting parts and the first to fourth root connecting parts, thereby generating a horizontal thrust.

9. The flight device according to any one of claims 1 to 6, wherein, The flying device can also be used as a watercraft.

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