Work device

Abstract

To provide a mouth-piece type work device.SOLUTION: A mouth-piece type work device includes: a substantially U-shaped body 634; a first rotor group 635 composed of a plurality of cylindrical rotors arranged on the bottom surface of the body 634; a substantially U-shaped first belt member 636 wound on the first rotor group 635 and on which a large amount of bristle materials are planted; a second rotor group 637 arranged on the inner peripheral side of the first rotor group 635 on the bottom surface of the body 643 and composed of a plurality of cylindrical rotors; and a substantially U-shaped second belt member 638 wound on the second rotor group 637 and on which a large amount of bristle materials are planted. Rotations of the first and second belt members 636, 638 by driving the first and second rotor group 635, 637 allow the work device 633 to brush an oral cavity.SELECTED DRAWING: Figure 43

Description

[Technical field]

[0001] The present invention relates to a working device equipped with a cylindrical rotating body. [Background technology]

[0002] 2. Description of the Related Art Conventionally, working devices (electric toothbrushes) capable of brushing the inside of the oral cavity have been known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-164506 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the prior art, there was no mouthpiece type working device.

[0005] An object of the present invention is to provide a working device equipped with a cylindrical rotating body that can solve the above-mentioned problems. [Means for solving the problem]

[0006] [1] A mouthpiece-type working device comprising: a substantially U-shaped main body; a first rotor assembly consisting of a plurality of cylindrical rotors arranged on the bottom surface of the main body; a substantially U-shaped first belt member having a plurality of bristles wound around the first rotor assembly; a second rotor assembly consisting of a plurality of cylindrical rotors arranged on the inner periphery of the first rotor assembly on the bottom surface of the main body; and a substantially U-shaped second belt member having a plurality of bristles wound around the second rotor assembly, the working device being capable of brushing the inside of the oral cavity by driving the first and second rotor assemblies to rotate the first and second belt members. [2] The working device described in [1], comprising a handle extending from the main body and a grip portion provided on the handle. [3] The first rotating body assembly includes a first cylindrical rotating body provided near one end of the main body, a second cylindrical rotating body provided near the other end of the main body, and a plurality of cylindrical rotating bodies provided between the first and second cylindrical rotating bodies, and the second rotating body assembly includes a third cylindrical rotating body provided near one end of the main body, a fourth cylindrical rotating body provided near the other end of the main body, and a plurality of cylindrical rotating bodies provided between the third and fourth cylindrical rotating bodies, the working device described in [1]. [4] The working device according to any one of [1] to [3], wherein the main body comprises a sensor, a memory device that stores the measurement values ​​of the sensor, and a wireless communication device that transmits the measurement values ​​of the sensor to the outside. [5] A mouthpiece-type working device comprising: a first body having a generally U-shape; a first rotor assembly consisting of a plurality of cylindrical rotors each having bristles at one end and the other end embedded in the first body; a second body having a generally U-shape arranged on the inner circumference side of the first body; a second rotor assembly consisting of a plurality of cylindrical rotors each having bristles at one end and the other end embedded in the side of the second body facing the first body; and a handle member connecting the first body and the second body; and the working device can brush the inside of the oral cavity by rotating the first and second rotor assemblies. [6] A mouthpiece-type working device comprising: a first body having a substantially U-shape; a first rotor assembly consisting of a plurality of cylindrical rotors each having bristles at one end thereof and the other end thereof embedded in the bottom surface of the first body; a second body having a substantially U-shape arranged on the inner periphery of the first body; a second rotor assembly consisting of a plurality of cylindrical rotors each having bristles at one end thereof and the other end thereof embedded in the bottom surface of the second body; and a handle member connecting the first body and the second body so as to leave a gap between the inner periphery of the first body and the outer periphery of the second body; and the first and second rotor assemblies are rotated to brush the inside of the oral cavity. [7] A mouthpiece-type working device comprising: a first body having a generally U-shape with many bristles planted on its inner circumferential surface; a second body having a generally U-shape and arranged on the inner circumferential surface of the first body and facing the first body with many bristles planted on its outer circumferential surface; a handle member connecting the first body and the second body so as to leave a gap between the inner circumferential surface of the first body and the outer circumferential surface of the second body; and a vibration device that vibrates the first body and the second body, wherein the vibration device is driven to vibrate the first body and the second body, thereby enabling the inside of the oral cavity to be brushed. [8] A working device as described in [7], wherein a vibration plate that transmits vibrations from the vibration device to the first body and the second body is embedded in the inner surface of the first body, the second body, and the handle member. [9] The working device described in any one of [1] to [5], wherein each of the first and second rotating body assemblies is constituted by a cylindrical rotating body having a motor and an outer casing rotated by the motor.

[10] A working device as described in [6] or [7], in which the size of the gap can be adjusted and fixed.

[11] The working device according to any one of [1] to

[10] , wherein the cylindrical rotating body is equipped with an ultrasonic transducer.

[0007] A working device according to a modified example of the present invention comprises a cylindrical rotating body and a base portion connected to the cylindrical rotating body, the cylindrical rotating body comprising a motor and an outer casing rotated by the motor, and a fingertip can be fitted into a hole provided in the base portion. In the above working device, a brush may be provided on the surface of the exterior body, and the cylindrical rotating body may be rotated to brush the inside of the oral cavity. In the above working device, the cylindrical rotating body may be composed of two cylindrical rotating bodies, and a connecting member may be provided that movably connects the two cylindrical rotating bodies. In the above-mentioned working device, the cylindrical rotating body may be composed of three or more cylindrical rotating bodies, and may further include a plurality of connecting members that connect two of the cylindrical rotating bodies so that the angle between them is less than 180°. A working device according to a second aspect of the present invention includes a main body extending in a first direction, a first cylindrical rotating body extending in a second direction intersecting the first direction, a second cylindrical rotating body extending in a third direction intersecting the first direction, a first connecting member connecting the first cylindrical rotating body in an adjustable manner so as to adjust the angle of the first cylindrical rotating body relative to the main body, and a second connecting member connecting the second cylindrical rotating body in an adjustable manner so as to adjust the angle of the second cylindrical rotating body relative to the main body, each of the first and second cylindrical rotating bodies including a drive unit and an outer body having a brush provided on a surface rotated by the drive unit, and the inside of the oral cavity can be brushed by rotating the first and second cylindrical rotating bodies. In the above working device, the main body may be configured with a third cylindrical rotating body having a drive unit and an outer body having a brush on a surface rotated by the drive unit, and the first to third cylindrical rotating bodies may be arranged in a U-shape, so that the teeth can be surrounded and brushed. The above working device may be characterized in that it includes a fourth cylindrical rotating body facing the first cylindrical rotating body and a 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 being adjustable, the fourth and fifth cylindrical rotating bodies include a drive unit and an outer body having a brush on a surface rotated by the drive unit, and the inside of the oral cavity can be brushed by rotating the fourth and fifth cylindrical rotating bodies. In the above-mentioned working device, the main body, the first cylindrical rotating body and / or the second cylindrical rotating body may have a through hole for inserting a vacuum tube, a needle nozzle, a catheter or a fiber camera, and may be characterized in that the vacuum tube, the needle nozzle, the catheter or the fiber camera is inserted into the through hole. In the above-mentioned working device, the main body, the first cylindrical rotating body, the tip member of the first cylindrical rotating body, the second cylindrical rotating body and / or the tip member of the second cylindrical rotating body may be characterized by being equipped with an ultrasonic transducer. The above-mentioned working device may be characterized in that it includes a balloon located on the throat side of the main body when the device is attached, and the balloon can be expanded by supplying air thereto and can be deflated by exhausting the air from within the balloon.

[0008] The working device of a third aspect according to the modified example of the present invention comprises a mouthpiece-shaped main body, a first cylindrical rotating body (310a) extending upright from the main body, a second cylindrical rotating body (310b) extending upright from the main body, an inner moving mechanism (320) for moving the first cylindrical rotating body along the inner circumferential line of the main body, and an outer moving mechanism (330) for moving the second cylindrical rotating body along the outer circumferential line of the main body, each of the first and second cylindrical rotating bodies comprising a drive unit and an outer body having a brush provided on a surface rotated by the drive unit, and is characterized in that the inside of the oral cavity can be brushed while rotating the first and second cylindrical rotating bodies and moving them by the inner moving mechanism and the outer moving mechanism.

[0009] A working device according to a fourth aspect of the present invention includes a first mouthpiece-type body, a second mouthpiece-type body arranged on the inner periphery of the first body, and a plurality of cylindrical rotating bodies extending from the first and second bodies, the plurality of cylindrical rotating bodies including a drive unit and an outer body having a brush on a surface rotated by the drive unit, the plurality of cylindrical rotating bodies being arranged along an inner periphery or an outer periphery of the first and second bodies, and the inside of the oral cavity can be brushed by rotating the cylindrical rotating bodies. In the above working device, the plurality of cylindrical rotating bodies (410) may be characterized in 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) may extend substantially horizontally from the first and second bodies, and brushes may be provided on end faces of the plurality of extending cylindrical rotating bodies.

[0010] A working device according to a fifth aspect of the present invention, which is a modified example, comprises a first mouthpiece-type body, a second mouthpiece-type body arranged on the inner periphery of the first body, a handle member connecting the first body and the second body, and a vibration device for vibrating the first body and the second body, wherein an approximately equally spaced gap G is defined between the inner periphery of the first body and the outer periphery of the second body, and a brush is provided on each of the inner periphery of the first body and the outer periphery of the second body, allowing the inside of the oral cavity to be brushed. In the above-mentioned working device, a vibration plate that transmits vibrations from the vibration device to the first body and the second body may be embedded in the inner surface of the first body, the second body, and the handle member.

[0011] The working device of a sixth aspect relating to the modified example of the present invention comprises a first mouthpiece-type main body, a first annular elastomer having a brush on its surface constituting the side of the first main body, a first rotating body assembly provided on the first main body and having a drive unit for rotating the first annular elastomer, a second mouthpiece-type main body arranged on the inner circumference side of the first main body, a second annular elastomer having a brush on its surface constituting the side of the second main body, and a second rotating body assembly provided on the second main body and having a drive unit for rotating the second annular elastomer, and is characterized in that the inside of the oral cavity can be brushed by rotating the first and second rotating body assemblies.

[0012] The working device according to a seventh aspect of the modified example of the present invention comprises a mouthpiece-shaped main body, a U-shaped rotating mechanism for cleaning the back side of teeth consisting of three or more cylindrical rotating bodies connected in series via a flexible connecting member, a U-shaped rotating mechanism for cleaning the front side of teeth consisting of three or more cylindrical rotating bodies connected in series via a flexible connecting member, a first pressing member for pressing the rotating mechanism for cleaning the back side of teeth toward the rotating mechanism for cleaning the front side of teeth, and a second pressing member for pressing the rotating mechanism for cleaning the front side of teeth toward the rotating mechanism for cleaning the back side of teeth, and is characterized in that the inside of the oral cavity can be brushed by driving the rotating mechanism for cleaning the back side of teeth and the rotating mechanism for cleaning the front side of teeth. In the above working device, each of the three or more cylindrical rotating bodies may include a motor and an exterior body rotated by the motor. In the above-mentioned working device, the main body may include a sensor, a storage device that stores a measurement value of the sensor, and a wireless communication device that transmits the measurement value of the sensor to an outside. The working device may be characterized in that it comprises a thick disk-shaped or roughly teardrop-shaped elastic member located on the throat side of the main body when worn, for training the jaw, tongue or throat. In the above working device, the elastic member may have a through hole, and a vacuum tube, a needle nozzle, a catheter, an endoscope, a cotton swab or a fiber camera may be inserted into the through hole. The above-mentioned working device may be characterized in that it includes a balloon located on the throat side of the main body when the device is attached, and the balloon can be expanded by supplying air thereto and can be deflated by exhausting the air from within the balloon. In the above-mentioned working device, the balloon may have a through hole, and a vacuum tube, a needle nozzle, a catheter, an endoscope, a cotton swab or a fiber camera may be inserted into the through hole of the balloon.

[0013] A working device according to an eighth aspect of a modified example of the present invention is a working device comprising a main body, a plurality of cylindrical rotating bodies arranged below the main body, and a control device for controlling the drive of the cylindrical rotating bodies, wherein the cylindrical rotating bodies comprise a motor, an outer body rotated by the motor, a plurality of wheels which function as driving wheels, and a wheel motor which drives the plurality of wheels, and at least one of the plurality of cylindrical rotating bodies is a first cylindrical rotating body having a cutting blade, claw or brush provided on the surface of the outer body. In the above working device, the plurality of cylindrical rotating bodies may be configured to include a plurality of cylindrical rotating bodies connected in series via a flexible connecting member. The working device may be configured to include four or more cylindrical rotating bodies, which are arranged at equal intervals in a matrix or staggered pattern. The working device may be configured to include a plurality of telescopic tubular bodies directly or indirectly connected to the cylindrical rotating body, and the distance of the plurality of cylindrical rotating bodies from the main body may be adjusted by the telescopic tubular bodies. In the above-mentioned working device, the first cylindrical rotating body may be configured so that blades or claws are provided on the surface of the outer body, and the cylindrical rotating body can be used for mowing, pruning, felling, plowing or snow removal. In the above-mentioned working device, at least one of the plurality of cylindrical rotating bodies may be configured to be a second cylindrical rotating body having a storage chamber for storing plant seeds and an opening / closing discharge port for sowing the 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 configured to 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 above-described working device, the first cylindrical rotating body may be a brush-equipped cylindrical rotating body having a brush on the surface of the outer body for cleaning, and may be provided with a cover member covering the outer body, the cover member being provided with a suction port for sucking in dirt, and may be configured to include a cylindrical rotating body with a suction port arranged in parallel to the brush-equipped cylindrical rotating body. In the above working device, the cylindrical rotating body may be configured to include three or more cylindrical rotating bodies, at least two of which function as drive wheels. The working device may be configured to have a size that allows it to be used as a toy.

[0014] A working device according to a ninth aspect of a modified example of the present invention is a working device comprising a first ground-grounding work mechanism consisting of a plurality of cylindrical rotating bodies arranged in the same line, a second ground-grounding work mechanism consisting of a plurality of cylindrical rotating bodies arranged in the same line, a frame that arranges the first ground-grounding work mechanism and the second ground-grounding work mechanism in parallel, and a control device that controls the driving of the cylindrical rotating bodies, wherein each of the plurality of cylindrical rotating bodies comprises a motor and an exterior body rotated by the motor, the frame comprises a front-rear direction extension mechanism that enables adjustment of the distance between the first ground-grounding work mechanism and the second ground-grounding work mechanism, and blades or claws are provided on the surface of the exterior body, and the working device is capable of mowing, pruning, felling, plowing or removing snow using the first and second ground-grounding work mechanisms. In the above-described working device, the first ground contact work mechanism may be configured to include a 1A rotation mechanism and a 1B rotation mechanism arranged in the same straight line, the second ground contact work mechanism may be configured to include a 2A rotation mechanism and a 2B rotation mechanism arranged in the same straight line, and the frame may be configured to include a first width direction extension mechanism that enables adjustment of the distance between the 1A rotation mechanism and the 1B rotation mechanism, and a second width direction extension mechanism that enables adjustment of the distance between the 2A rotation mechanism and the 2B rotation mechanism. In the above working device, each of the 1A rotation mechanism, the 1B rotation mechanism, the 2A rotation mechanism, and the 2B rotation mechanism may be configured to include a plurality of cylindrical rotating bodies connected at an angle via flexible connecting members. The above-mentioned working device may further include a cylindrical rotating body for ridge shaping extending obliquely from the first ground-laying work mechanism and / or the second ground-laying work mechanism, and the cylindrical rotating body for ridge shaping may be configured to include a motor and an outer body rotated by the motor. The above-mentioned working device may be configured to include a platform for placing luggage and a number of platform telescopic tubular bodies directly or indirectly connected to the platform, and the platform telescopic tubular bodies may be configured to enable adjustment of the distance of the platform from the number of wheels.

[0015] A working device according to a tenth aspect of a modified example of the present invention comprises a platform for placing luggage, a cylindrical rotating body arranged below the platform, a plurality of wheels which function as drive wheels, a wheel motor for driving the plurality of wheels, a plurality of wheel extension mechanisms directly or indirectly connected to the platform, and a cylindrical rotating body extension mechanism directly or indirectly connected to the platform, wherein the wheel extension mechanism allows adjustment of the distance of the platform from the plurality of wheels, and the cylindrical rotating body extension mechanism allows adjustment of the distance of the cylindrical rotating body from the platform. The above-mentioned working device may be configured to include a plurality of wheel telescopic tubular bodies directly or indirectly connected to the plurality of wheels, and the wheel telescopic tubular bodies may be configured to adjust the widthwise distance between the plurality of wheels.

[0016] A working device according to an eleventh aspect of a modified example of the present invention is a working device comprising: a main body capable of moving along an elongated member R tensioned above; an opening adjustment device arranged below the main body; two rotating body assemblies connected to the opening adjustment device so that the opening and closing angle can be adjusted; and wheels arranged below each of the two rotating body assemblies, wherein the rotating body assemblies are configured by connecting a plurality of cylindrical rotating bodies in a serial direction, and the cylindrical rotating body comprises a motor, an outer body rotated by the motor, and a pruning blade provided on the outer periphery of the outer body, the main body and the opening adjustment device are connected via a turntable, and a pruning mechanism is constituted which shapes trees by rotating the opening adjustment device with the turntable to rotate the two rotating assemblies so that the trajectory of the wheels becomes circular. In the above-mentioned working device, the rotating plate and the opening degree adjustment device may be connected via a height adjustment device, and the height of the opening degree adjustment device may be adjusted by the height adjustment device. The above-mentioned working device may be configured to include an extension mechanism for adjusting the vertical distance between the wheel and the rotating body assembly. In the above-described working device, the plurality of cylindrical rotating bodies constituting the rotating body assembly may be connected via a connecting member that connects the plurality of cylindrical rotating bodies in an adjustable manner in angle. In the above-described working device, the main body may include a left side movable part and a right side movable part that can be separated, and a slide mechanism that slidably supports the left side movable part and the right side movable part, and the opening adjustment device may be composed of a left side opening adjustment part and a right side opening adjustment part that can be separated and on which the slide mechanism is supported, and when the left side movable part and the right side movable part move apart, the left side opening adjustment part and the right side opening adjustment part and two rotating body assemblies connected to the opening adjustment device may move apart.

[0017] A working device according to a twelfth aspect of a modified example of the present invention is a working device that includes a cylindrical rotating body and a base portion connected to the cylindrical rotating body, the cylindrical rotating body including a motor and an exterior body rotated by the motor, and a fingertip can be fitted into a hole provided in the base portion. In the above working device, a brush may be provided on the surface of the exterior body, and the cylindrical rotating body may be rotated to brush the inside of the oral cavity. In the above-mentioned working device, the cylindrical rotating body may be composed of three or more cylindrical rotating bodies, and may further be configured to include a plurality of connecting members that connect two of the cylindrical rotating bodies so that the angle between them is less than 180°.

[0018] A working device according to a thirteenth aspect of a modified example of the present invention comprises a main body extending in a first direction, a first cylindrical rotating body extending in a second direction intersecting the first direction, a second cylindrical rotating body extending in a third direction intersecting the first direction, a first connecting member connecting the first cylindrical rotating body in an adjustable manner at an angle relative to the main body, and a second connecting member connecting the second cylindrical rotating body in an adjustable manner at an angle relative to the main body, each of the first and second cylindrical rotating bodies comprising a drive unit and an outer body having a brush provided on a surface rotated by the drive unit, and the working device is capable of brushing the inside of the oral cavity by rotating the first and second cylindrical rotating bodies. In the above working device, the main body may be configured with a third cylindrical rotating body having a drive unit and an outer body having a brush on a surface rotated by the drive unit, and the first to third cylindrical rotating bodies may be arranged in a U-shape so as to surround and brush the teeth. The above working device may be configured to include a fourth cylindrical rotating body facing the first cylindrical rotating body and a 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 being adjustable, the fourth and fifth cylindrical rotating bodies including a drive unit and an outer body having a brush on a surface rotated by the drive unit, and the inside of the oral cavity may be brushed by rotating the fourth and fifth cylindrical rotating bodies. In the above-mentioned working device, the main body, the first cylindrical rotating body and / or the second cylindrical rotating body may have a through hole for inserting a vacuum tube, a needle nozzle, a catheter or a fiber camera, and may be configured to include a vacuum tube, a needle nozzle, a catheter or a fiber camera inserted into the through hole. In the above working device, the main body, the first cylindrical rotating body, the tip member of the first cylindrical rotating body, the second cylindrical rotating body and / or the tip member of the second cylindrical rotating body may be configured to be equipped with an ultrasonic transducer. The working device may be configured to include a balloon located on the throat side of the main body when the device is attached, and to be inflated by supplying air to the balloon and to be deflated by evacuating the air from within the balloon.

[0019] A working device according to a fourteenth aspect of the present invention, which is a modified example, comprises a mouthpiece-shaped main body, a first cylindrical rotating body (310a) extending upright from the main body, a second cylindrical rotating body (310b) extending upright from the main body, an inner moving mechanism (320) for moving the first cylindrical rotating body along the inner circumferential line of the main body, and an outer moving mechanism (330) for moving the second cylindrical rotating body along the outer circumferential line of the main body, each of the first and second cylindrical rotating bodies comprising a drive unit and an outer body having a brush provided on a surface rotated by the drive unit, and is a working device capable of brushing the inside of the oral cavity while rotating the first and second cylindrical rotating bodies and moving them by the inner moving mechanism and the outer moving mechanism.

[0020] A working device according to a fifteenth aspect of a modified example of the present invention comprises a first mouthpiece-type body, a second mouthpiece-type body arranged on the inner periphery of the first body, and a plurality of cylindrical rotating bodies extending from the first and second bodies, the plurality of cylindrical rotating bodies each comprising a drive unit and an outer casing having a brush on a surface rotated by the drive unit, the plurality of cylindrical rotating bodies being arranged along the inner or outer periphery of the first and second bodies, and the working device being capable of brushing the inside of the oral cavity by rotating the cylindrical rotating bodies. In the working device, the plurality of cylindrical rotating bodies (410) may be configured to extend substantially upward or downward from the first and second bodies. In the above working device, the multiple cylindrical rotating bodies (617, 619) may be configured to extend substantially horizontally from the first and second bodies, and brushes may be provided on end faces of the multiple extending cylindrical rotating bodies.

[0021] A working device according to a sixteenth aspect of a modified example of the present invention comprises a first mouthpiece-type body, a second mouthpiece-type body arranged on the inner periphery of the first body, a handle member connecting the first body and the second body, and a vibration device for vibrating the first body and the second body, wherein the inner periphery of the first body and the outer periphery of the second body define a gap G that is approximately equally spaced, and brushes are provided on the inner periphery of the first body and the outer periphery of the second body, respectively, making it possible to brush the inside of the oral cavity. In the above working device, a vibration plate that transmits vibrations from the vibration device to the first body and the second body may be configured to be embedded in the inner surface of the first body, the second body, and the handle member.

[0022] A working device according to a seventeenth aspect of the present invention, which relates to a modified example, comprises a first mouthpiece-type main body, a first annular elastomer having a brush on its surface constituting the side surface of the first main body, a first rotating body assembly provided on the first main body and having a drive unit for rotating the first annular elastomer, a second mouthpiece-type main body arranged on the inner circumference side of the first main body, a second annular elastomer having a brush on its surface constituting the side surface of the second main body, and a second rotating body assembly provided on the second main body and having a drive unit for rotating the second annular elastomer, and is a working device capable of brushing the inside of the oral cavity by rotating the first and second rotating body assemblies.

[0023] The working device of an eighteenth aspect according to a modified example of the present invention comprises a mouthpiece-shaped main body, a U-shaped rotating mechanism for cleaning the back side of teeth consisting of three or more cylindrical rotating bodies connected in series via a flexible connecting member, a U-shaped rotating mechanism for cleaning the front side of teeth consisting of three or more cylindrical rotating bodies connected in series via a flexible connecting member, a first pressing member that presses the rotating mechanism for cleaning the back side of teeth toward the rotating mechanism for cleaning the front side of teeth, and a second pressing member that presses the rotating mechanism for cleaning the back side of teeth toward the rotating mechanism for cleaning the front side of teeth, and is a working device capable of brushing the inside of the oral cavity by driving the rotating mechanism for cleaning the back side of teeth and the rotating mechanism for cleaning the front side of teeth. In the above-mentioned working device, the main body may be configured to include a sensor, a storage device that stores measured values ​​of the sensor, and a wireless communication device that transmits the measured values ​​of the sensor to an external device. The working device may be configured to include a thick disk-shaped or roughly teardrop-shaped elastic member located on the throat side of the main body when worn, for training the jaw, tongue or throat. In the above working device, the elastic member may have a through hole, and a vacuum tube, a needle nozzle, a catheter, an endoscope, a cotton swab or a fiber camera may be inserted into the through hole. The working device may be configured to include a balloon located on the throat side of the main body when the device is attached, and to be inflated by supplying air to the balloon and to be deflated by evacuating the air from within the balloon. In the above working device, the balloon may have a through hole, and a vacuum tube, a needle nozzle, a catheter, an endoscope, a cotton swab or a fiber camera may be inserted into the through hole of the balloon.

[0024] A working device according to a nineteenth aspect of the present invention, which is a modified example, comprises a mask member and a plurality of rotating body assemblies arranged within the mask member, the rotating body assemblies being composed of a plurality of cylindrical rotating bodies having an outer body with a drive unit and a blade provided on a surface rotated by the drive unit, and connecting members which movably connect the plurality of cylindrical rotating bodies, and is a working device capable of shaving beard or hair by rotating the cylindrical rotating bodies.

[0025] A working device according to a twentieth aspect of a modified example of the present invention is a working device comprising a toothbrushing device and a beard or hair shaving device, wherein the toothbrushing device is a working device equipped with the above-mentioned brush, and the beard or hair shaving device is a working device capable of shaving the beard or hair, and the toothbrushing device is placed on the mask member, allowing brushing of teeth and shaving of beard or hair to be performed simultaneously.

[0026] A working device according to a 21st aspect of a modified example of the present invention comprises two or more cylindrical rotating bodies, a connecting member that connects the two or more cylindrical rotating bodies so that the angle of the two or more cylindrical rotating bodies can be adjusted, and a plurality of telescopic cylindrical bodies that have ear hook members and are connected to the cylindrical rotating bodies, wherein the cylindrical rotating bodies comprise a motor and an outer body having a blade on a surface that is rotated by the motor, and the working device can shave beard or hair by rotating the cylindrical rotating bodies.

[0027] A working device according to a twenty-second aspect of a modified example of the present invention comprises a main body, a first cylindrical rotating body having a propeller connected directly or indirectly to the main body, a second cylindrical rotating body having a propeller connected directly or indirectly to the main body, a first connecting member that allows adjustment of the angle of the first cylindrical rotating body with respect to the main body, a second connecting member that allows adjustment of the angle of the second cylindrical rotating body with respect to the main body, a power supply unit, and a control unit that has an acceleration sensor, and is a working device that can fly by rotating the first and second cylindrical rotating bodies, wherein the first and second cylindrical rotating bodies comprise a motor and an exterior body rotated by the motor, and the control unit adjusts the angles of the first and second cylindrical rotating bodies with respect to the main body by the first and second connecting members and the rotational speeds of the propellers of the first and second cylindrical rotating bodies based on a signal from the acceleration sensor. The above working device may include a third cylindrical rotating body connecting the first connecting member and the main body, a fourth cylindrical rotating body connecting the second connecting member and the main body, a third connecting member that allows the angle of the third cylindrical rotating body relative to the main body to be adjusted, and a fourth connecting member that allows the angle of the fourth cylindrical rotating body relative to the main body to be adjusted, and the control unit may be configured to adjust the angles of the third and fourth cylindrical rotating bodies relative to the main body by the third and fourth connecting members based on a signal from the acceleration sensor. The above working device may include a base (1102) that supports the main body, a front connecting member provided at the front portion of the base that allows the angle of the base relative to the third cylindrical rotating body to be adjusted, and a rear connecting member provided at the rear portion of the base that allows the angle of the base relative to the fourth cylindrical rotating body to be adjusted, so that the base can be positioned at any angle relative to the first to fourth cylindrical rotating bodies. In the above working device, the base may be configured to include a pair of wings. The above working device may be configured to include a third cylindrical rotating body having a propeller connected directly or indirectly to the main body, a fourth cylindrical rotating body having a propeller connected directly or indirectly to the main body, a third connecting member that adjusts the angle of the third cylindrical rotating body with respect to the main body, a fourth connecting member that adjusts the angle of the fourth cylindrical rotating body with respect to the main body, a first connecting rod member that arranges the first to third cylindrical rotating bodies on the same line and so that the second cylindrical rotating body is positioned between the first cylindrical rotating body and the third cylindrical rotating body, and a second connecting rod member (1210g) that is arranged perpendicular to the third connecting member and connects the second cylindrical rotating body and the fourth cylindrical rotating body, and the control unit may be configured to adjust the angles of the third and fourth cylindrical rotating bodies with respect to the main body by the third and fourth connecting members based on a signal from the acceleration sensor. In the above working device, the present invention includes third to sixth cylindrical rotors directly or indirectly connected to a main body and equipped with a propeller, third to sixth connecting members that enable adjustment of the angles of the third to sixth cylindrical rotors relative to the main body, respectively, a first connecting rod member (1310g, 1310h) that arranges the first to third cylindrical rotors on the same line and the second cylindrical rotor between the first cylindrical rotor and the third cylindrical rotor, and an actuator that arranges the fourth to sixth cylindrical rotors on the same line, The device may also be configured to include a second connecting rod member (1310i, 1310j) arranged so that the fifth cylindrical rotating body is positioned between the fourth cylindrical rotating body and the sixth cylindrical rotating body, and a third connecting rod member (1310k) connecting the second cylindrical rotating body and the fifth cylindrical rotating body, and is arranged on the fourth connecting member, and the control unit may be configured to adjust the angles of the third to fourth cylindrical rotating bodies relative to the main body by the third to sixth connecting members based on a signal from the acceleration sensor. The above working device may be configured to include a third cylindrical rotating body equipped with a propeller connected directly or indirectly to the main body, a fourth cylindrical rotating body equipped with a propeller connected directly or indirectly to the main body, a third connecting member that allows adjustment of the angle of the third cylindrical rotating body relative to the main body, a fourth connecting member that allows adjustment of the angle of the fourth cylindrical rotating body relative to the main body, a frame that arranges the first to fourth cylindrical rotating bodies at the four corners of a rectangle or square, and a main body provided on the frame, and the control unit may be configured to adjust the angles of the third and fourth cylindrical rotating bodies relative to the main body via the third and fourth connecting members based on a signal from the acceleration sensor. In the above working apparatus, the frame may be configured to include a pair of wings. In the above-described working device, the main body may be configured to include width direction extension mechanisms the same in number as the propellers provided on the first to fourth cylindrical rotating bodies, which enable adjustment of the horizontal distance between the propellers. In the above-described working device, the main body may be configured to include vertical extension mechanisms in the same number as the propellers that enable adjustment of the vertical distance of the propellers of the first to fourth cylindrical rotors, and the control unit may be configured to automatically adjust the extension and contraction of the vertical extension mechanisms based on a signal from an acceleration sensor. In the above-mentioned working device, the control unit may be configured to switch between an ascent mode and a horizontal movement mode by individually controlling angles of the first to fourth cylindrical rotating bodies formed by the first to fourth connecting members and a rotation direction of the propeller. The above working device may be configured to include a root connecting member that can bend the propellers of the first to fourth cylindrical rotors outward from their roots. The above-mentioned working device may be provided with an attachment for connecting to an external vehicle, airplane, or ship, and may be configured so that a horizontal propulsive force can be generated by bending the propeller using the first to fourth connecting members. The above-mentioned working device may be configured so as to be usable as an underwater boat.

[0028] A working device according to a 23rd aspect of a modified example of the present invention comprises a fuselage, a main wing, a plurality of cylindrical rotating bodies for the main wing equipped with propellers attached to the main wing, a plurality of connecting members for the main wing that enable individual adjustment of the angles of the plurality of cylindrical rotating bodies for the main wing relative to the main wing, a tail, and a control unit equipped with an acceleration sensor, and is capable of flying by rotating the cylindrical rotating body for the main wing, wherein the cylindrical rotating body for the main wing comprises a motor and an outer body rotated by the motor, and the control unit adjusts the angle of the cylindrical rotating body for the main wing connected by the connecting members for the main wing relative to the main body, and the rotational speed of the propeller of the cylindrical rotating body for the main wing, based on a signal from the acceleration sensor. The above-mentioned working device may be configured to include a plurality of tail unit cylindrical rotors equipped with propellers attached to the tail unit, and a plurality of tail unit connecting members that enable individual adjustment of the angles of the plurality of tail unit cylindrical rotors relative to the tail unit, wherein the tail unit cylindrical rotors include a motor and an outer body rotated by the motor, and the control unit is configured to adjust the angle of the tail unit cylindrical rotors relative to the main body by the tail unit connecting members, and the rotational speed of the propellers of the tail unit cylindrical rotors, based on a signal from the acceleration sensor. The above-described working device may be configured to include a main wing connecting member provided on a bottom surface of the main wing and a tail connecting member provided on a bottom surface of the tail, wherein the plurality of main wing cylindrical rotating bodies and the plurality of main wing connecting members are provided on the front and rear sides of the main wing connecting member, respectively, and the plurality of tail cylindrical rotating bodies and the plurality of tail connecting members are provided on the front and rear sides of the tail connecting member, respectively.

[0029] A working device according to a 24th aspect of a modified example of the present invention comprises a main body, a cylindrical rotating body equipped with a propeller connected directly or indirectly to the main body, a connecting member that allows the angle of the cylindrical rotating body relative to the main body to be adjusted, a power supply unit, and a control unit equipped with an acceleration sensor and a wireless communication device, wherein the cylindrical rotating body comprises a motor and an exterior body rotated by the motor, and the propeller is constituted by a cylindrical rotating body equipped with an exterior body provided with blade members, and the working device can fly by rotating the cylindrical rotating body, and the control unit adjusts the angle of the cylindrical rotating body relative to the main body by the connecting member and the rotational speed of the propeller of the cylindrical rotating body based on a signal from the acceleration sensor. The above working device may be configured to include a movable part whose relative position with respect to the main body is variable, the cylindrical rotating body being directly or indirectly connected to the upper part of the movable part, and a second cylindrical rotating body having a propeller and connected directly or indirectly to the lower part of the movable part, and a second connecting member that makes it possible to adjust the angle of the second cylindrical rotating body with respect to the main body, and the control unit may be configured to adjust the angle of the second cylindrical rotating body with respect to the main body by the second connecting member, and the rotational speed of the propeller of the second cylindrical rotating body, based on a signal from the acceleration sensor.

[0030] A working device according to a twenty-fifth aspect of the present invention, which is a modified example, comprises a main body having a mounting portion, first to third cylindrical rotating bodies having propellers connected directly or indirectly to the main body, first to third connecting members that enable adjustment of angles of the first to third cylindrical rotating bodies with respect to the main body, first to third root connecting members that connect the first to third connecting rod members to the main body, first to third connecting rod members that connect the first to third root connecting members to the first to third connecting members, a power supply unit, and a control unit having an acceleration sensor, and rotates the first to third cylindrical rotating bodies. a control unit that can adjust the angles of the first, second, third connecting members relative to the main body of the first, second, third cylindrical rotating bodies and the rotational speeds of the propellers of the first, second, third cylindrical rotating bodies based on a signal from the acceleration sensor, and the working device that can grasp an object placed on the placement unit by bending the first, second, third connecting members and / or the first, second, third base connecting members. In the above working device, the main body may be configured to include a slide mechanism that enables at least a plurality of the base connecting members among the first to third base connecting members to slide. In the above working device, the main body may be configured to include a pair of wings. In the above working device, the main body may be configured to be composed of a first main body member and a second main body member, and the first main body member and the second main body member may be configured to be bent to form a valley portion.

[0031] A working device according to a twenty-sixth aspect of a modified example of the present invention is a working device comprising a first working device and a second working device, the first and second working devices comprising a rotating member that rotates on an elongated member, a main body connected to the rotating member, an arch-shaped frame located below the main body and connected detachably to the main body, a plurality of wheels supporting the frame, a drive device that rotates the wheels, a control device that controls the drive device, and a wireless communication device, wherein a dome can be formed by covering each frame of the first and second working devices with a cover member, and the distance between the first and second working devices can be adjusted by transmitting a control signal to the control device via the wireless communication device. In the above-mentioned working device, the main body may be configured to include a sensor and a storage device that stores measured values ​​of the sensor, and the measured values ​​of the sensor may be transmitted to the outside via a wireless communication device. In the above-mentioned working apparatus, the cover member may be made of vinyl, and the dome may be configured to form an agricultural tunnel. In the above working device, the rotating member may be made up of a plurality of rotating members connected to the frame at equal intervals, and the wheels may be connected to the frame via an extension mechanism.

[0032] A working device according to a 27th aspect of a modified example of the present invention is a working device for cleaning a bathtub comprising a main body, a main body drive unit for moving the main body along the side wall of a bathtub, a cylindrical rotating body, and a connecting member for variably fixing the angle between the main body and the cylindrical rotating body, wherein the cylindrical rotating body comprises a motor and an outer body having a brush provided on a surface rotated by the motor. In the above-mentioned working device, the cylindrical rotating body may be composed of a first cylindrical rotating body extending in a first direction and a second cylindrical rotating body extending in a second direction different from the first direction, and may further be configured to include a connecting member that variably fixes the angle between the first cylindrical rotating body and the second cylindrical rotating body. The above working device may be configured to include a third cylindrical rotating body having a motor and an outer casing having a brush on a surface rotated by the motor, and a second connecting member that variably fixes the angle between the second cylindrical rotating body and the third cylindrical rotating body. In the above-mentioned working device, the main body may be connected to a sub-unit via an extension mechanism, the sub-unit may include a cylindrical rotating body for cleaning the outer surface extending in the first direction, and the cylindrical rotating body for cleaning the outer surface may include a motor and an outer body having a brush provided on a surface rotated by the motor.

[0033] A working device according to a 28th aspect of a modified example of the present invention is a working device for cleaning toilets, comprising a self-propelled unit capable of autonomously traveling on a floor surface, first and second cylindrical rotating bodies, an extension mechanism indirectly connected to the self-propelled unit, a first connecting member that movably connects the first and second cylindrical rotating bodies, and a second connecting member that movably connects the second cylindrical rotating body and the extension mechanism, wherein the first cylindrical rotating body comprises a motor and an exterior body having a brush provided on a surface rotated by the motor, and the second cylindrical rotating body comprises a motor and an exterior body having a brush, sponge or cleaning cloth provided on a surface rotated by the motor. Effect of the Invention

[0034] According to the present invention, a flying device including a cylindrical rotating body having a propeller can be provided. [Brief description of the drawings]

[0035] [Figure 1] FIG. 2 is a perspective view showing an example of a rotating body assembly according to the first embodiment. [Diagram 2] 1A and 1B are diagrams for explaining the connection and rotational motion of cylindrical rotating bodies, in which (A) is a side view showing cylindrical rotating bodies before they are connected, (B) is a side view showing cylindrical rotating bodies that are connected and perform rotational motion, and (C) is a side view showing a modified example of a cylindrical rotating body that is connected and performs rotational motion. [Diagram 3]FIG. 2 is a block diagram showing a configuration of a cylindrical rotating body according to the present embodiment. [Figure 4] 1A and 1B are diagrams showing an example of a trolley equipped with a cylindrical rotating body according to a first embodiment, in which (A) is a side view showing a trolley equipped with four cylindrical rotating bodies as wheels, (B) is a side view showing a trolley equipped with four cylindrical rotating bodies as wheels, and (C) is a side view showing a trolley equipped with a turntable with a cylindrical rotating body attached to the bottom surface. [Diagram 5] 11A and 11B are block diagrams showing the configuration of a cylindrical rotating body according to a second embodiment, in which (A) shows a contracted state and (B) shows an extended state. [Figure 6] FIG. 13 is a block diagram showing the configuration of a cylindrical rotating body according to a third embodiment. [Figure 7] FIG. 13 is a perspective view showing an example of a rotating body assembly according to a fourth embodiment. [Figure 8] FIG. 13 is a perspective view showing an example of a rotating body assembly according to a fifth embodiment. [Figure 9] FIG. 13 is a perspective view showing an example of a rotating body assembly according to a fifth embodiment. [Figure 10] 13A and 13B are diagrams showing an example of a robot hand equipped with a rotating body assembly according to a sixth embodiment, in which (A) is a plan view, (B) is a side view showing the grasping state, and (C) is a side view of the rotating body assembly with a blade attached. [Figure 11] FIG. 13 is a diagram showing a working device including a rotating body assembly according to a seventh embodiment. [Figure 12] FIG. 13 is a diagram showing a modified example of a working device equipped with a rotating body assembly according to the seventh embodiment, and is a side view showing a grass cutting mechanism consisting of two cylindrical rotating bodies. [Figure 13] 13A and 13B are diagrams showing a working device equipped with a rotating body assembly according to an eighth embodiment, in which (A) is an oblique view showing a grass cutting device equipped with a grass cutting mechanism consisting of three cylindrical rotating bodies, (B) is a side view, (C) is a plan view, and (D) is a side view of a modified example. [Figure 14] FIG. 13(A) is a front view showing a first modified example of an agricultural work vehicle (agricultural machinery) equipped with a rotating body assembly relating to the eighth embodiment, (B) is a front view showing a second modified example, and (C) is a front view of the grass cutting mechanism. [Figure 15]FIG. 13 is a diagram showing an example of an agricultural work vehicle (farm implement) equipped with a rotating body assembly according to a ninth embodiment. [Figure 16] 10A and 10B show examples of a working device (finger cot) equipped with a cylindrical rotating body or a rotating body assembly according to the tenth embodiment, in which (A) is an example configuration equipped with a single cylindrical rotating body, (B) is an example configuration equipped with a rotating body assembly, and (C) is an example configuration equipped with a bending portion. [Figure 17] 13(A) is a plan view showing a connecting member according to an eleventh embodiment, and (B) is a plan view showing a state in which a cylindrical rotating body is connected to the connecting member. FIG. [Figure 18] 11(A) is a plan view showing a working device equipped with a rotating body assembly according to an eleventh embodiment, (B) is a perspective view, and (C) is a side view showing a state in which an automobile is mounted. [Figure 19] FIG. 23 is a diagram showing a working device including a rotating body assembly according to a twelfth embodiment. [Figure 20] 13A and 13B are diagrams for explaining a working device equipped with a cylindrical rotating body in accordance with the 13th embodiment, in which (A) is a front view of a first bogie equipped with a cylindrical rotating body below the base, (B) is a front view of a second bogie equipped with a cylindrical rotating body below the base, and (C) is a front view of a third bogie equipped with a cylindrical rotating body for driving wheels. [Figure 21] 23A to 23D are diagrams illustrating a modified example of the working device according to the thirteenth embodiment. [Figure 22] 14(A) is a side view of a working device equipped with a cylindrical rotating body according to a fourteenth embodiment, and (B) is a plan view of a modified example of (A). [Diagram 23] 15(A) is a plan view of a working device equipped with a cylindrical rotating body according to a fifteenth embodiment, and (B) is a plan view of a modified example of (A). [Figure 24] 13(A) is a side view illustrating a working device related to a modified example of the fifth embodiment, (B) is a side view illustrating a first posture of the rotating body assembly, and (C) is a side view illustrating a second posture of the rotating body assembly. [Diagram 25] FIG. 23(A) is a side view illustrating a working device according to a first modified example of the eighth embodiment, and (B) is a side view illustrating a working device according to a second modified example. [Figure 26]13(A) is a bottom view of a working device equipped with a rotor assembly according to a modified example of the fifth embodiment, and (B) is a side view. [Figure 27] FIG. 11 is a side view of a telescopic cylinder connected to a rotating body assembly of a second embodiment. [Figure 28] FIG. 28 is a side view of a cylindrical rotating body connected to the telescopic cylinder of FIG. 27. [Figure 29] FIG. 2 is a plan view of a lifting device including a rotating body assembly having telescopic cylinders connected to both ends. [Diagram 30] 1 is a side view showing a tillage mechanism configured by attaching tillage tines to a cylindrical rotating body. FIG. [Diagram 31] 31 is a plan view showing a main part of the tillage mechanism of FIG. 30. [Diagram 32] 31A and 31B are diagrams showing a connection mode of the cylindrical rotating bodies in FIG. 30, in which (A) is a side view of the connected cylindrical rotating bodies, and (B) is a side view of a connector. [Diagram 33] FIG. 13 is a bottom view showing a configuration example in which the cylindrical rotating body is used as a road roller. [Diagram 34] FIG. 13 is a diagram for explaining a working device according to a modified example of the sixth embodiment. [Diagram 35] FIG. 23 is a side view of a working device equipped with a cylindrical rotating body according to a sixteenth embodiment. [Diagram 36] FIG. 23 is a cross-sectional side view of a main portion showing a first modified example of a cylindrical rotating body according to the sixteenth embodiment. [Figure 37] FIG. 23 is a side view of a working device showing a second modified example of the sixteenth embodiment. [Figure 38] 23(A) is a side view of a working device equipped with a cylindrical rotating body according to a seventeenth embodiment, and (B) is a cross-sectional view taken along line AA of (A). [Figure 39] 23(A) is a side view of an inward movement mechanism according to a seventeenth embodiment, and (B) is a side view of a modified example of (A). [Diagram 40] FIG. 23 is a bottom view of a working device including a cylindrical rotating body according to an eighteenth embodiment. [Diagram 41] FIG. 23 is a plan view of a working device according to a 19th embodiment. [Diagram 42]FIG. 23 is a plan view of a modified example of the working device according to the nineteenth embodiment. [Diagram 43] 20(A) is a bottom view of a working device according to a twentieth embodiment, and (B) is a side view. [Diagram 44] FIG. 21 is a side view of a working device equipped with a cylindrical rotating body according to a twenty-first embodiment. [Diagram 45] FIG. 23 is a side view illustrating a usage mode of the working apparatus according to the eighteenth and twenty-first embodiments. [Figure 46] 22(A) is a front view showing a first state of a working device according to a twenty-second embodiment, and FIG. 22(B) is a front view showing a second state. [Figure 47] 23(A) is a perspective view of a working device according to a twenty-third embodiment, and FIG. 23(B) is a perspective view of a modified example of the working device according to the twenty-third embodiment. [Figure 48] 24(A) is a side view of a working device according to a 24th embodiment (ascent mode), (B) is a side view in a horizontal movement mode, and (C) is a side view in a load loading mode. [Figure 49] FIG. 24 is a side view of a modified example of the working device according to the twenty-fourth embodiment. [Figure 50] FIG. 24 is a side view showing an example of an attachment for mounting a working device according to a twenty-fourth embodiment to a roof portion of an automobile. [Figure 51] FIG. 24 is a plan view of a working device according to a twenty-fourth embodiment. [Figure 52] FIG. 25 is a perspective view of a working device according to a twenty-fifth embodiment. [Diagram 53] FIG. 26 is a perspective view of a working device according to a twenty-sixth embodiment. [Figure 54] 27(A) is a side view showing a working device according to a 27th embodiment, (B) is a side view of a working device 870, and (C) is a cross-sectional view taken along line AA of (A). [Figure 55] 28(A) is a side view showing a cleaning section of a working apparatus according to a 28th embodiment, (B) is a plan view of the working apparatus, and (C) is a side view of a modified example. [Figure 56] 29(A) is a perspective view of a working device according to a 29th embodiment, and FIG. 29(B) is a perspective view of a modified example. [Figure 57](A) is a side view of a working device relating to the 30th embodiment, (B) is a side view showing a first posture of a working device relating to a modified example of (A), (C) is a side view showing a second posture, and (D) is a side view showing a third posture. [Figure 58] 31A is a side view showing a first posture of a working device according to a thirty-first embodiment, FIG. 31B is a side view showing a second posture, and FIG. 31C is a side view of a modified example. [Figure 59] FIG. 32 is a perspective view of a working device according to a thirty-second embodiment. [Figure 60] FIG. 33 is a perspective view of a working device according to a thirty-third embodiment. [Figure 61] FIG. 34(A) is a plan view of a working device according to a thirty-fourth embodiment, and (B) is a plan view of a modified example of (A). [Figure 62] FIG. 35(A) is a side view of a working device according to a 35th embodiment, and FIG. [Figure 63] 36(A) is a side view of an inward movement mechanism according to the thirty-sixth embodiment, and (B) is a side view of a modified example of (A). [Figure 64] 37(A) is a perspective view of a working device according to a 37th embodiment, and (B) is a perspective view of a modified example of (A). [Figure 65] FIG. 38 is a perspective view of a working device according to a thirty-eighth embodiment. [Figure 66] (A) is a side view explaining the first posture of the working device related to the 39th embodiment, (B) is a side view explaining the second posture, and (C) is a side view of the working device related to a modified example of the 39th embodiment. [Figure 67] 23A is a side view illustrating a first posture of a working device according to a modification of the twelfth embodiment, and FIG. 23B is a side view illustrating a second posture. [Figure 68] FIG. 40 is a side view of a working device according to a fourth embodiment. [Figure 69] FIG. 41 is a plan view of a working device according to a forty-first embodiment. [Figure 70] FIG. 42 is a perspective view of a working device according to the forty-second embodiment. [Figure 71] FIG. 43 is a perspective view of a working device according to the forty-third embodiment. [Figure 72](A) is a side view of the 44th embodiment, and (B) is a bottom view. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The cylindrical rotating body and rotating body assembly according to the present invention, as well as a work device having a cylindrical rotating body (which may be a farm vehicle, a toy car, a dolly, or an aircraft) will be described below with reference to the drawings.

[0037] First Embodiment Fig. 1 is a perspective view of a rotating body assembly 1 according to the first embodiment. Fig. 2 is a diagram for explaining the connection and rotational operation of a cylindrical rotating body 10. Fig. 3 is a block diagram showing the configuration of the cylindrical rotating body 10 according to the first embodiment.

[0038] The rotor assembly 1 according to the first embodiment is configured by connecting a plurality of cylindrical rotors 10 as shown in FIG. 1. Specifically, the rotor assembly 1 is configured by connecting a first connecting portion 14 of a cylindrical rotor 10 to a second connecting portion 15 of another cylindrical rotor 10 as shown in FIG. 1 and FIG. 2. In this embodiment, a helical groove (helicoid) is formed on the inner surface of the concave first connecting portion 14 and the outer surface of the convex second connecting portion 15, so that the first connecting portion 14 of the cylindrical rotor 10 and the second connecting portion 15 of the other cylindrical rotor 10 can be screwed together and connected. Note that the first connecting portion 14 and the second connecting portion 15 are not limited to helical grooves (helicoids), and may have any structure as long as the first connecting portion 14 and the second connecting portion 15 can be fitted together with each other. For example, the first connecting portion 14 and the second connecting portion 15 may be configured by an attachment (connecting joint) consisting of a male member and a female member. 2, the rotating body assembly 1 may be used with one end (connecting portion 14 or connecting portion 15) connected to a connecting portion 71 of a rotating body fixing member 70. The fixing member 70 is a part of a work device such as a farm vehicle, a toy car, or a dolly.

[0039] 3, the cylindrical rotating body 10 includes a stator 11, a core 12, an exterior body 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.

[0040] The stator 11 and the exterior body (rotor) 13 constitute a motor mechanism. The stator 11 has a current control device and a plurality of stator coils (not shown), and obtains magnetic force by electric power supplied from inside or outside to rotate the exterior body 13 arranged outside the stator 11. As described above, the stator 11 is fixed inside the core 12, and the first connecting part 14 formed integrally with the core 12 is fixed to the rotating body fixing member 70 as shown in FIG. 2(B) or (C). This fixes the stator 11 and enables the exterior body 13 to rotate. FIG. 2(B) shows a configuration in which the exterior bodies 13, 13 of the connected cylindrical rotating bodies 10, 10 rotate independently, and FIG. 2(C) shows a configuration in which the exterior bodies 13, 13 of the connected cylindrical rotating bodies 10, 10 rotate in conjunction with each other. In the modified example of FIG. 2(C), end faces 130, 130 of exterior bodies 13, 13 on the connected side are formed of zigzag surfaces, and exterior bodies 13, 13 are connected by end faces 130, 130 meshing with each other.

[0041] In this embodiment, the first connecting portion 14 and the second connecting portion 15 have electrical contacts (not shown), and it is possible to supply power to the stator 11 from inside or outside via the first connecting portion 14 and the core 12. The cylindrical rotating body 10 can receive power from an external device (rotating body fixing member 70) connected to the power source side or from the cylindrical rotating body 10, and supply power to the cylindrical rotating body 10 connected to the opposite side of the power source side. For example, in the example shown in Figs. 2(B) and (C), the cylindrical rotating body 10 on the power source (rotating body fixing member 70) side (the cylindrical rotating body 10 on the left side in Figs. 2(B) and (C)) can supply power to the cylindrical rotating body 10 on the opposite side (the cylindrical rotating body 10 on the right side in Figs. 2(B) and (C)), thereby rotating the two cylindrical rotating bodies simultaneously. In this embodiment, an electric motor is exemplified as the motor mechanism, but the configuration of the motor mechanism is not limited as long as it can rotate the exterior body 13, and it may be a hydraulic motor, an air motor, or a fuel cell type electric motor that uses hydrogen. A plurality of motors may be used as the drive source for one cylindrical rotating body, and further, a hybrid drive source equipped with an engine and a motor may be used.

[0042] Exterior body 13 is formed to be rotatable and to cover the outer periphery of core 12. Exterior body 13 has, for example, a magnet, and functions as a rotor for stator 11.

[0043] The first connecting portion 14 and the second connecting portion 15 provided at the end are members for connecting with the second connecting portion 15 and the first connecting portion 14 of the other cylindrical rotating body 10, respectively, and have a structure for fitting with the second connecting portion 15 and the first connecting portion 14 of the other cylindrical rotating body 10. For example, in the example shown in FIG. 1, the first connecting portion 14 and the second connecting portion 15 are formed with a helical groove (helicoid), which allows the first connecting portion 14 and the second connecting portion 15 of the other cylindrical rotating body 10 to be screwed together. In addition, the first connecting portion 14 and the second connecting portion 15 may be connected to the connecting portion 71 of the rotating body fixing member 70 as shown in FIGS. 2(A) and (B), or to an accessory to be described later.

[0044] Here, FIG. 4 is a diagram showing a dolly 6a, which is an example of a working device equipped with a cylindrical rotating body 10 according to the first embodiment. The dolly 6a shown in FIG. 4(A) is equipped with four cylindrical rotating bodies 10 arranged at the vertices of a square or rectangle on the bottom surface of a platform (main body) 80 for placing luggage, and a control device (not shown). The control device can individually drive the four cylindrical rotating bodies 10 used as wheels of the dolly 6a, and can change direction by controlling the driving and stopping of each cylindrical rotating body 10. Note that the number of cylindrical rotating bodies 10 arranged on the bottom surface of the platform 81 is not limited to four, and may be, for example, three, five, six, eight, or ten.

[0045] Also, as shown in FIG. 4(B), the rotor assembly 1, in which two cylindrical rotors 10 are connected via a connecting member 2, may be configured as each wheel of a dolly 6b, thereby providing a rotor assembly 1 with sufficient driving force. Since the connecting member 2 is flexible, it can be deformed when passing over an uneven part of the ground, thereby improving stability during running. Also, the dolly 6b shown in FIG. 4(B) includes slide mechanisms 81a to 81c that allow each leg 82 to move in the horizontal direction, and a telescopic mechanism (for example, a telescopic cylinder 90 shown in FIG. 27) provided between each leg 82 and each cylindrical rotor 10. This makes it possible to adjust the relative position of the rotor assembly 1 with respect to the base 80. Furthermore, as shown in FIG. 4(C), a configuration may be adopted in which a plurality of turntables 83 are provided on the bottom surface of the platform 80 of the dolly 6c, and the cylindrical rotor 10 or rotor assembly 1 is attached to each turntable 83. This allows the dolly 6c to move in any direction, including not only the front-rear direction but also the left-right direction. In the dolly 6a shown in FIG. 4(A), the leg 82 has a connecting portion for connecting with the cylindrical rotor 10, and functions as a rotor fixing member (reference numeral 70 in FIG. 1) for fixing the cylindrical rotor 10. In addition, the leg 82 is freely adjustable in position in the horizontal direction, and as shown in FIG. 4(B), it is also possible to connect with a rotor assembly 1 consisting of two or more cylindrical rotors 10.

[0046] As described above, the cylindrical rotating body 10 according to the first embodiment is a cylindrical rotating body incorporating motors (11, 13) and includes a first connecting portion 14 and a second connecting portion 15 that can be directly connected to another cylindrical rotating body, thereby enabling it to rotate integrally with another cylindrical rotating body 10. As a result, for example, as shown in Fig. 4(B), a plurality of cylindrical rotating bodies 10 can be connected to form a rotating body assembly 1, which can be used as a single wheel to configure a working device. In the first embodiment, a configuration was exemplified in which the cylindrical rotating body 10 is used as a wheel, like the cart shown in Figure 4, but this configuration is not limited to this. For example, the outer body 13 of the cylindrical rotating body 10 can be connected to wheels, and the wheels can be rotated to cause the rotating body assembly 1 to rotate and run.

[0047] Second Embodiment Next, a cylindrical rotating body 10a according to the second embodiment will be described. Fig. 5 is a block diagram showing the configuration of the cylindrical rotating body 10a according to the second embodiment. The cylindrical rotating body 10a according to the second embodiment is configured similarly to the cylindrical rotating body 10 according to the first embodiment, except that it is extendable in the longitudinal direction (i.e., has an extension mechanism).

[0048] In the second embodiment, the core 12a is composed of a first core 121 and a second core 122, and the first core 121 and the second core 122 are nested. A helicoid groove is formed on the surface where the first core 121 and the second core 122 contact each other, and by rotating the second core 122 relative to the first core 121, the core 12a can be expanded and contracted in the longitudinal direction.

[0049] 5, exterior body 13a is composed of first exterior body 131 and second exterior body 132, and first exterior body 131 and second exterior body 132 are nested within each other. Like core 12a, first exterior body 131 and second exterior body 132 of exterior body 13a have helical grooves (helicoids) formed on the surfaces where they come into contact with each other, and by rotating second exterior body 132 relative to first exterior body 131, exterior body 13a can be expanded and contracted in the longitudinal direction.

[0050] In the second embodiment, the first core 121 and the second core 122, and the first exterior body 131 and the second exterior body 132 are provided with helicoid grooves to configure an extension mechanism that allows the core 12a and the exterior body 13a to be extended and retracted in the longitudinal direction, thereby enabling the cylindrical rotating body 10a to be extended and retracted in the longitudinal direction, but the extension mechanism is not limited to this configuration. In addition, in this embodiment, the action of manually extending and retracting the cylindrical rotating body 10a is illustrated, but the present invention is not limited to this configuration, and the extension mechanism can be configured with an actuator (for example, a motor or a hydraulic cylinder) for extending and retracting the cylindrical rotating body 10a, and the cylindrical rotating body 10a can be automatically extended and retracted. 27 is a side view of the telescopic tubular body 90 connected to the rotor assembly of the second embodiment. As shown in the figure, a telescopic control device 92, an accumulator 93, and a cylinder tube 96a of a hydraulic cylinder 96 are arranged side by side from top to bottom in a tubular body 91. A changeover switch (not shown) is also built into the tubular body 91. The hydraulic cylinder 96 includes a cylinder tube 96a, and a piston rod 96b that is inserted into the cylinder tube 96a so as to be able to advance and retreat and that forms a nest by protruding from the cylindrical body 91. The space within the cylinder tube 96a is divided by a 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. The accumulator 93 and the oil chambers 96e, 96f are connected by pipes, and valves are provided in the pipes (both the pipes and the valves are not shown). When a control signal is input from the telescopic control device 92 to the changeover switch, the changeover switch controls the opening and closing of the valve. This controls the supply and discharge of hydraulic oil (hydraulic pressure) between the oil chambers 96e, 96f and the accumulator 93, thereby adjusting the extension amount of the 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 portion 94 and the threaded portion 95 are configured to have the same diameter as the second connecting portion 15 of the cylindrical rotating body 10, and can be screwed and connected to the first connecting portion 14 of the cylindrical rotating body 10 as shown in FIG. 28. In this way, the cylindrical rotating body 10 to which the telescopic cylindrical body 90 is connected is also included in the cylindrical rotating body having the telescopic mechanism referred to in this specification. Unlike the configuration illustrated in the same figure, one or both of the threaded portion 94 and the threaded portion 95 may be configured as a concave connecting portion having a helical groove (helicoid) formed on the inner surface, similar to the first connecting portion 14 of the cylindrical rotating body 10, and configured to be screwed to the second connecting portion 15 of the cylindrical rotating body 10.

[0051] As described above, the cylindrical rotating body 10a according to the second embodiment is extendable in the longitudinal direction, which allows the user to adjust the cylindrical rotating body 10a to a desired length for use.

[0052] Third Embodiment Next, a cylindrical rotating body 10b according to a third embodiment will be described. Fig. 6 is a block diagram showing the configuration of the cylindrical rotating body 10b according to the third embodiment. As shown in Fig. 6, the cylindrical rotating body 10b according to the third embodiment is configured and operates in the same manner as the cylindrical rotating body 10 according to the first embodiment, except that a battery 16, a control device 17, and a communication device 18 are built into the cylindrical rotating body 10b.

[0053] The battery 16 is electrically connected to the stator 11, the control device 17, and the communication device 18, and supplies power to these components. A secondary battery can be used as the battery 16. In this case, the battery 16 may be configured to be directly connected to a commercial power source or a generator to supply power, or may be configured to be charged by radio waves using a known method. The battery 16 may also be configured to receive power from a solar power generation device or from a car battery.

[0054] The control device 17 is composed of a microcomputer having a CPU, ROM, and RAM (not shown), and controls the traveling of the cylindrical rotating body 10 based on a traveling program pre-stored in the ROM. The control device 17 can also obtain a traveling program input by a user from an external device (not shown) via the communication device 18 and store it in the RAM. The control device 17 can also perform traveling control according to the user's traveling program stored in the RAM.

[0055] The communication device 18 is, for example, a wireless communication module capable of Bluetooth (registered trademark), which is one of the wireless communication standards, wireless LAN (Local Area Network) communication, and wireless WAN (Wide Area Network) communication. The communication device 18 receives signals such as a driving program input by the user from an external device (not shown) and transmits them to the control device 17. This makes it possible to control the operation of the cylindrical rotating body 10b by remote control.

[0056] As described above, the cylindrical rotating body 10b according to the third embodiment includes the battery 16. This allows the cylindrical rotating body 10b to rotate independently even when there is no power supply from an external source such as a fixed member. In addition, the cylindrical rotating body 10 according to this embodiment has a control device 17 and can control rotation based on a driving program input by a user and received from a communication device 18. This allows the cylindrical rotating body 10b and the rotating body assembly 1 formed therefrom to be used as a toy car as an educational toy for learning programming.

[0057] Fourth Embodiment Next, a rotating body assembly 1a according to a fourth embodiment will be described. Fig. 7 is a perspective view showing the configuration of the rotating body assembly 1a according to the fourth embodiment. In the rotating body assembly 1a according to the fourth embodiment, the cylindrical rotating bodies 10 are not directly connected to each other, but are connected via connecting members 20.

[0058] The connecting member 20 is a cylindrical member for connecting two or more cylindrical rotating bodies 10. In this embodiment, the connecting member 20 has a convex connecting portion 20a and a concave connecting portion 20b on both ends of a body portion 21 for connecting to the first connecting portion 14 and the second connecting portion 15 of the cylindrical rotating body 10, respectively, as shown in FIG.

[0059] By connecting a plurality of cylindrical rotating bodies 10 with the connecting member 20, the plurality of cylindrical rotating bodies 10 can be connected and rotated. Moreover, the connecting member 20 is smaller than the cylindrical rotating bodies 10, and the length in the longitudinal direction of the connecting member 20 is shorter than that of the cylindrical rotating bodies 10. In other words, it is preferable that the diameter of the body 21 is equal to or smaller than the diameter of the cylindrical rotating bodies 10.

[0060] The connecting member 20 has electrical contacts at the convex connecting portion 20a and the concave connecting portion 20b, and power supplied from the cylindrical rotating body 10 connected to the power source side can be supplied to the cylindrical rotating body 10 connected to the opposite side via the electrical contacts. In a preferred embodiment, the connecting member 20 connects the cylindrical rotating bodies 10, 10 connected via the connecting member 20 so that they can communicate with each other. The connecting member 20 may be provided with a motor that assists the rotation of the motor of the cylindrical rotating body 10. From another perspective, the connecting member 20 may be configured as a short cylindrical rotating body 10 with a built-in motor mechanism.

[0061] In this manner, in the rotating body assembly 1a according to the fourth embodiment, the cylindrical rotating bodies 10 are connected by the connecting members 20, and it is possible for the multiple cylindrical rotating bodies 10 to rotate integrally.

[0062] Fifth embodiment Next, a lifting device 100, which is a working device including a rotating body assembly 1b according to the fifth embodiment, will be described. Fig. 8 is a diagram showing the state of the rotating body assembly 1b according to the fifth embodiment before the cylindrical rotating body 10 is connected, and Fig. 9 is a diagram showing the state of the rotating body assembly 1b according to the fifth embodiment after the cylindrical rotating body 10 is connected. The rotating body assembly 1b according to the fifth embodiment is configured and operates in the same manner as the rotating body assembly 1a according to the fourth embodiment, except that the connecting member 22 has an axis 23 and is rotatable around the axis 23 as shown in Figs. 8 and 9.

[0063] As shown in FIG. 8, the connecting member 22 has an axis 23 at the center of the body parts 21a and 21b. The axis 23 is rotatable around one axis or multiple axes. Similarly to the fourth embodiment, the connecting member 22 is connectable to the connecting parts 14 and 15 of the cylindrical rotating body 10 at the connecting parts 22a and 22b at both ends. Furthermore, in the fifth embodiment, the connecting member 22 has an actuator (not shown) for rotating around the axis 23, and the axis 23 is rotatable based on external control. Note that such a rotation control signal is electrically transmitted from the outside to the connecting member 22 via the rotating body fixing member 70 and the cylindrical rotating body 10 described above in FIG. 1, for example.

[0064] By rotating the shaft 23 of the connecting member 22, the angle θ between the two cylindrical rotating bodies 10 (i.e., the trunks 21a, 21b) can be made less than 180° as shown in Fig. 9. This allows the rotating body assembly 1b to be made hook-shaped (U-shaped or O-shaped (with a locking mechanism)) as shown in Figs. 24(A) and (B), for example, and makes it possible to configure a working device 52 that moves while performing an action of grasping an object like a human finger.

[0065] Here, the working device 52 may be provided with an imaging device (camera), a processing device, and a communication device, and may be used as an electric wire inspection device for inspecting the electric wire W or the rail for damaged parts, obstacles on the rail, etc. The connector 43 connecting the working device 52 and the rotating body assembly 1b may be of a fixed length or may be of an extendable configuration. In this case, the electric wire W is firmly held by the rotating body assembly 1b at a part other than the joint of the electric wire W as shown in FIG. 24(B), and at the joint of the electric wire W to which various members are attached, a gap is formed between the electric wire W and the rotating body assembly 1b to avoid the members as shown in FIG. 24(C), or among the multiple rotating body assemblies 1b lined up in the traveling direction as shown in FIG. 24(A), the rotating body assembly 1b immediately before the joint of the electric wire W can be separated from the electric wire W. Although a mode in which the entire outer periphery of the electric wire W is covered is not shown in FIGS. 24(B) and (C), it is of course possible to adopt a mode in which the entire outer periphery of the electric wire W is covered.

[0066] In Fig. 24, an example of gripping an electric wire W is shown, but wire, rebar, rod, etc. may be used instead of the electric wire W. For example, as an example of gripping a wire, the working device 52 in Fig. 24(A) can be used as a zip line that can also run in reverse by attaching a tool such as a harness. A laser inspection device may be mounted on the working device 52 in place of or together with the imaging device (camera) to inspect roads, electric wires, rails, structures, etc. These captured images may be made available for viewing on a smartphone.

[0067] FIG. 29 is a plan view of the lifting device 100 including the cylindrical rotating body 10 to which the telescopic tubular body 90 is connected at both ends. Although the telescopic tubular body 90 is drawn simply in FIG. 29, the telescopic tubular body 90 has the same configuration as the telescopic tubular body 90 in FIG. 27. One end of each telescopic tubular body 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 holding a columnar member P such as a pole. The connecting member 27 functions as a movable axis that changes the angle formed by the two telescopic tubular bodies 90 that are connected. The lifting device 100 including the connecting member 27 and the telescopic tubular body 90 can perform the lifting operation while maintaining contact with the columnar member P such as a pole by changing the size of the triangular space by making the length of the six telescopic tubular bodies 90 variable, even if the thickness of the columnar member P such as a pole is not uniform. Therefore, even if the columnar member P such as a pole changes in thickness in the longitudinal direction, such as a natural tree or a utility pole, the lifting operation can be performed.

[0068] As described above, in the rotating body assembly 1b according to the fifth embodiment, the angle between the two cylindrical rotating bodies 10 can be set to less than 180°, so that a string-like member or elongated member W such as a rope or wire can be held by the rotating body assembly 1b and the rotating body assembly 1b can rotate and travel on the rope or wire, as shown in Fig. 24. In addition, by attaching a basket, handle, hook, etc. to such a rotating body assembly 1b, it can be used as a lift for transporting luggage, people, robots, agricultural machinery, construction machinery, etc. along the string-like member. 9, the fifth embodiment has been described as having an actuator for rotating the shaft 23, and the rotation of the connecting member 22 is controlled by an external control device, but the present invention is not limited to this configuration, and the connecting member 22 may be rotated manually, for example. Also, in the above-described embodiment, the external side of the rotating body fixing member 70 or the cylindrical rotating body 10 itself has a power source (battery) for rotating the motor, a control device, and a communication device, but the connecting member 20 may have a battery 16, a control device 17, and a communication device 18.

[0069] Sixth Embodiment Next, in the sixth embodiment, a robot hand 101 and a rotor assembly 101 having blades 103 attached to the tips of the fingers of the robot hand will be described. In the robot hand 101 according to the sixth embodiment shown in FIG. 10(A), each finger portion (110a-110e) has a configuration similar to that of the rotor assembly 1b according to the fifth embodiment, and connecting members 120a3-120e2 arranged at the lower end are connected to five connecting portions provided on the back portion 102. The connecting members 120a3-120e2 have a configuration similar to that of the connecting member 27, and function as movable shafts that change the angle formed by the two connected finger portions 110. In FIG. 10(A), only the robot's upper body 102 is shown as the main body, but the upper body 102 may be configured to be connected to a multi-axis robot arm for work, or may be configured to be connected to the robot arm of a humanoid robot. The rotating body assembly 1b can be detachably attached to the back of the robot hand of the humanoid robot, and the rotating body assembly 1b can be attached to the robot as necessary. The finger parts (110a to 110e) can be any number, and the thumb (110e) can be omitted. Power and control signals for operating the rotating body assemblies 110a to 110e, which are the finger parts of the robot hand, are supplied from the back of the hand 102, and this allows the multiple cylindrical rotating bodies 110a1 to 120e2 that make up the fingers of the robot hand to freely rotate. Furthermore, the connecting members 120a3-120e2 have actuators that rotate the movable shaft to adjust the angle of the finger portion 110, and by rotating the connecting members 120a3-120e2 based on power and control signals supplied from the back of the hand 102, the robot can freely perform actions such as grasping a string-like member R such as a rope, as shown in Fig. 10(B). The string-like member R such as a rope is grasped by the robot hand 101 at the rotating body assembly 1b, and the robot itself having this robot hand 101 can be lifted off the ground and moved across the string-like member R such as a rope. In addition, by adjusting the angle of the connecting members 120a3 to 120e2, the robot hand 101 can grab a weed (for example, by pinching the weed between the cylindrical rotating bodies 110 that correspond to the fingers of the robot hand, or by pinching the weed between the parts that correspond to the fingers and palm of the robot hand), and rotating each cylindrical rotating body 110, the grabbed weed can be pulled out of the ground.

[0070] Fig. 10(C) is a side view of the rotor assembly 110 to which the blade 103 according to the sixth embodiment is attached. The rotor assembly 110 shown in Fig. 10(C) can be used as a finger part of the robot hand 101, or can be used alone. In the rotor assembly 110 according to the sixth embodiment, the blade 103 is attached to one end of the rotor assembly 1b according to the fifth embodiment, and the other end is attached to the base part 102. The connecting members 120d1 to 120d3 have the same configuration as the connecting member 27, and function as movable shafts that change the angle formed by each cylindrical rotor 110. By attaching tools such as blades, sickles, claws, scissors, cutters, trimmers, mixer blades, drivers, pliers, nippers, soldering irons, welding torches, drills, and rebar hackers to the tip, it is possible to perform operations such as digging (drilling) soil, softening soil, kneading soil, and work such as crafting. In the sixth embodiment, by attaching a blade 103 to the tip (tips of the cylindrical rotors 110d1 to 110d3), the blade 103 can be rotated by the rotation of the cylindrical rotor 110, and the roots of fruits and vegetables can be cut off with the blade 103 to harvest the fruits and vegetables. Instead of the illustrated blade 103, a sickle, claws, scissors, cutter, trimmer, mixer blade, screwdriver, pliers, nippers, soldering iron, welding torch, drill, rebar hacker or other tool can be attached to the tip to perform tasks such as digging (drilling) soil, softening soil, kneading soil, and crafting. Also, instead of the illustrated blade 103, a brush can be attached to the tip to perform cleaning tasks, and a brush can also be provided on the exterior of the cylindrical rotating body 110. Furthermore, a tool for stirring powder, liquid, medicine (including herbal medicine), etc. can be attached to the tip, and a tool for kneading ceramic clay, noodles, bread dough, etc. In this case, the surface of the cylindrical rotor 110 may be provided with irregularities or stirring blades. The angles of the connecting members 120d1 to 120d3 can be adjusted, for example, by an instruction from a control unit installed on the side of the base portion 102. Furthermore, such a rotating assembly 101 can perform actions such as stroking animals and plants by rotating the cylindrical rotating body 110, and can also perform rubbing actions for processing a workpiece (for example, deburring, polishing, and chamfering).

[0071] Seventh Embodiment Next, a working device according to the seventh embodiment will be described. Here, FIG. 11 is a diagram showing an example of the working device 4 according to the seventh embodiment. The working device 4 is a traveling body including two elongated long connecting members 25a, 25b attached to the bottom surface of a main body (not shown) and three cylindrical rotating bodies 10. As shown in FIG. 11, a plurality of cylindrical rotating bodies 10 are connected to each other at equal intervals in the short width direction of the cylindrical rotating bodies 10 by the long connecting members 25a, 25b. For example, in the example shown in FIG. 11, the long connecting members 25a, 25b have convex connecting portions 26a, 26b equal to the number of cylindrical rotating bodies 10 to be connected, and the three cylindrical rotating bodies 10 function as driving wheels by connecting each cylindrical rotating body 10 to each convex connecting portion 26a, 26b. The long connecting members 25a, 25b are connected to a power source (not shown) for supplying power to the cylindrical rotating body 10 installed in the main body and a control device (not shown) for transmitting control signals. Each of the convex connecting parts 26a, 26b has an electrical contact, and it is possible to supply power to each of the cylindrical rotating bodies 10 via the electrical contact.

[0072] As described above, in the working device 4 according to the seventh embodiment, a plurality of cylindrical rotating bodies 10 can be connected in a line in the short width direction of the cylindrical rotating bodies 10, thereby allowing the working device 4 to travel. 12 is a diagram showing a working device 4' according to a modified example of the seventh embodiment. In the working device 4', two cylindrical rotating bodies 10d are connected in series via a connecting member 2. The cylindrical rotating body 10d is similar to the cylindrical rotating body 10 described above, but differs in that a blade 19 is attached to the outer circumferential surface of the exterior body, and the exterior body rotates to form a grass cutting mechanism 41. The connecting member 2 is flexible and can deform to match the unevenness of the ground, thereby improving the contact of the cylindrical rotating body 10d with the ground. The end of the cylindrical rotating body 10d that is not connected to the connecting member 2 is connected to the long connecting members 25a and 25b. The long connecting members 25a and 25b are connected to a base 80 that is equipped with a power source (not shown) and a control device (not shown) for transmitting control signals. The convex connecting parts 26a and 26b shown by dotted lines electrically connect the grass cutting mechanism 41 to the power source (not shown) and the control device (not shown). Six wheels 30 are attached to the outer surfaces of the long 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 the vehicle can travel by rotating the wheels 30. For example, it is preferable to adopt wheels 30 equipped with a wheel-in motor. A car can also be placed on the base 80 of the working device 4' for transportation. On rough roads with large bumps and mud, a car cannot travel, but the working device 4', which is strong against rough roads, can also be used as a vehicle transport device in the event of a disaster.

[0073] The working device 4 can be used as a device for other purposes by modifying the main body. For example, in the rotating body assembly 1c, by passing dough for noodles or bread between the rotating cylindrical rotating bodies 10, it can be used as a kneading device for kneading dough. Similarly, by passing clay for use in pottery between the rotating cylindrical rotating bodies 10, it can be used as a kneading device for kneading clay for pottery. Furthermore, in the rotating body assembly 1c, one of the two long connecting members 25a, 25b can be removed. Also, by providing unevenness to the surface of the cylindrical rotating body 10, it can be used as a stirring device for powders and liquids, a cleaning vehicle for cleaning the surface of glass or flooring, a washing device for washing dishes and ingredients, a washing machine for washing vegetables, a fish scale removing device, and a massage device (device) for the human body. Also, it may be configured so that the rotation starts automatically by an infrared sensor, and used as a crime prevention security item (device) or a device (device) for repelling vermin.

[0074] Eighth embodiment Next, a grass cutting mechanism 41 and a grass cutting device 40 formed by the rotor assembly according to the eighth embodiment will be described. Fig. 13 is a diagram showing an example of a grass cutting device 40, which is a working device equipped with the rotor assembly according to the eighth embodiment. As in Fig. 12, the cylindrical rotor 10d according to the eighth embodiment has a blade 19 attached to the outer circumferential surface of the exterior body 13, and shows an example of forming a grass cutting mechanism.

[0075] FIG. 13(A) is a perspective view showing a grass cutting device 40 having a grass cutting mechanism consisting of three cylindrical rotating bodies 10d, (B) is a side view, (C) is a plan view, and (D) is a side view of a modified example. As shown in FIG. 13, by connecting a plurality of cylindrical rotating bodies 10d having blades 19, the rotating body assembly 1d can be used as a grass cutting mechanism, for example. As shown in FIG. 13(D), each grass cutting mechanism may be composed of a plurality of cylindrical rotating bodies 10d. The grass cutting device 40 is configured as a self-propelled working device by attaching wheels 30 to both ends of the rotating body assembly 1d and driving the wheels 30 with a wheel motor (not shown). In addition, by changing the size of the cylindrical rotating body 10d and the size of the blades 19 of the cylindrical rotating body 10d, the grass cutting device 40 can also be used as a cultivator, a branch cutter, or a tree cutter (especially a tree cutter for cutting shrubs or small shrubs).

[0076] FIG. 30 is a side view showing a tillage mechanism 48 configured by attaching tillage tines (34, 35) to a cylindrical rotor 10h, and FIG. 31 is a plan view showing a main part of the tillage mechanism 48. As shown in FIG. The tillage mechanism 48 includes a plurality of flanges 33 fixed to the exterior body 13, and a plurality of sets of left and right tillage claws (34, 35). Each flange 33 is provided with a plurality of through holes 38 for inserting a bolt B, and the plurality of sets of left and right tillage claws (34, 35) are detachably fixed by the bolts B and nuts N. Each of the left and right tillage claws (34, 35) includes an attachment base 36 in which a bolt insertion hole 37 is formed, and the bolt B is inserted into the bolt insertion hole 37 and the through hole 38, and the left and right tillage claws are fixed by the nuts N. The exterior body 13 may be provided with any number of flanges 33 greater than or equal to one, and the number of left and right tillage claws (34, 35) attached to the flanges 33 is not limited to three sets as illustrated. 32(A) is a side view of the coupled cylindrical rotating bodies 10h, and (B) is a side view of the coupling device 57. Note that in FIG. 32, the flange 33 provided on the exterior body 13 is omitted from the illustration. End flanges 39 are provided on both ends of the cylindrical rotor 10h, and the adjacent end flanges 39 are detachably fixed by connectors 57. Connector 57 is a ring-shaped member having hinge 58, and upper piece 57a and lower piece 57b can be opened and closed around hinge 58. Grooves for storing a pair of end flanges 39, 39 are provided on the inner periphery of upper piece 57a and lower piece 57b, and upper piece 57a and lower piece 57b can be fixed in a closed state by a locking device (not shown). The left and right tilling tines (34, 35) can be replaced in order to perform weeding work in rice fields or farmland. When performing weeding work in rice fields, a float may be connected to the cylindrical rotor 10h.

[0077] Furthermore, in order to perform weeding work in rice fields or fields where cultivated plants such as seedlings and ears are planted at regular intervals, for example, as shown in Figures 13(A) to (C), a configuration having a support 24 and connecting bars 28a, 28b can be used. In this case, the height of the connecting bars 28a, 28b is set higher than the height of the cultivated plants, and the cylindrical rotating body 10d with the blade 19 is rotated and traveled on the path between the cultivated plants, so that the cylindrical rotating body 10d can weed weeds that grow between the cultivated plants. In this way, by adjusting the height of the support 24 to make the height of the connecting bars 28a, 28b higher than the height of the cultivated plants, it is possible to prevent the connecting bars 28a, 28b from hitting the cultivated plants. In the example shown in Figure 13(B), the support 24 extending in the height direction is a simple rod-shaped member, but a part or all of the support 24 can also be configured with the cylindrical rotating body 10 or the telescopic cylindrical body 90. FIG. 13(D) shows a modified example in which the distance in the width direction between the wheels 30, 30 can be automatically adjusted by the telescopic cylinder mechanism a provided on the connecting member 28a. In addition, in the modified example of FIG. 13(D), the telescopic mechanism 90b provided on the support 24 can be automatically extended and retracted, so that the height of the support can be adjusted by extending and retracting the telescopic cylinder 90b according to the unevenness of the ground. Here, the telescopic cylinders 90a, 90b have the same configuration as the telescopic cylinder shown in FIG. 27. Furthermore, a telescopic mechanism (for example, the telescopic cylinder 90 shown in FIG. 27) that extends and retracts in the horizontal direction may be provided on the connecting member 28b perpendicular to the cylindrical rotating body 10d, so that the distance between the wheels 30, 30 in the front-rear direction (advance and retreat direction) can be automatically adjusted by a control device (not shown).

[0078] Furthermore, as shown in FIG. 14(A), the grass cutting device (farm work vehicle) 40 may be configured with the cylindrical rotors 10d and 10e attached to the ridges 45. That is, the grass cutting device 40 may be configured to include the cylindrical rotor 10d that cuts grass in the grooves between the ridges 45, and the cylindrical rotor 10e that cuts grass and forms the ridges on the slope of the ridges 45. The cylindrical rotor 10d includes an exterior body 13 equipped with a blade 19 for cutting grass, and is disposed below the bases 49a to 49c. The bases 49a to 49c are connected to the supports 42a to 42c. A turntable may be provided on the bases 49a to 49c, and the bases 49a to 49c may be configured to be rotatable relative to the supports 42a to 42c. With this configuration, it is possible to run the vehicle not only vertically but also diagonally and horizontally.

[0079] The cylindrical rotor 10e that comes into contact with the slope of the ridge 45 is equipped with a blade 19 similar to that of the cylindrical rotor 10d, and the angle relative to the connecting bars 44a to 44c can be changed by the connecting member 27. For example, the cylindrical rotor 10e located on the left side of the mowing mechanism 41c in FIG. 14 is raised by the connecting member 27 so as not to come into contact with the top of the ridge 45. The connecting member 27 is, for example, a ball joint, and can change the angle formed by the two connected cylindrical rotors 10e based on the control device (not shown) of the mowing device 40 or external control by an actuator such as a motor (not shown). Since the position of the cylindrical rotor 10e relative to the ridge 45 can be changed in this way, for example, when crops are planted on the top of the ridge 45, it is possible to perform weeding work while avoiding the crops. In addition, when forming the ridges 45 on an incline, the cylindrical rotor 10e may be configured not to have the blade 19. In the example shown in FIG. 14, the cylindrical rotor 10e is arranged to face both slopes of the ridges 45, but the present invention is not limited to this configuration, and the cylindrical rotor 10e may be arranged to face only one slope of the ridges 45. In FIG. 14, a configuration in which three mowing mechanisms 41a to 41c are connected is illustrated, but the number of connected mechanisms is not limited to the illustrated three, and may be two or four or more. As shown in FIG. 13(C), the mowing mechanisms 41 may be arranged in a matrix (n rows and m columns).

[0080] The connecting bars 44a-44c provided on the mowing mechanisms 41a-41c can move up and down along the supports 42a-42c, and the cylindrical rotating body 10e can be moved up and down and the angle with respect to the ridges 45 can be changed by an operator's button operation or automatic control. This makes it possible to avoid crops even if they are planted on the ridges 45. The mowing mechanisms 41a-41c and the supports 42a-42c may be equipped with object detection sensors such as photoelectric sensors, so that the cylindrical rotating body 10e can be automatically moved up and down and the angle with respect to the ridges 45 can be changed. The cylindrical rotating body 10e may be connected to both ends of the cylindrical rotating body 10d. As shown in Fig. 14(B), a configuration may be adopted in which a plurality of telescopic mechanisms (for example, telescopic cylinders 90 shown in Fig. 27) that telescopically extend and retract in the horizontal direction are provided on the connecting bar 44d, so that the distance between the cylindrical rotating bodies 10d, 10d, 10d can be adjusted. A configuration may also be adopted in which a control device (not shown) can automatically adjust the distance between the grass-cutting mechanisms 41a to 41c by detecting the position of the ridges 45 using the object detection sensor described above.

[0081] FIG. 14(C) is a front view of a mowing mechanism 41' according to a modified example. The mowing mechanism 41' according to the modified example has a configuration in which the cylindrical rotating bodies 10d, 10d connected in series by a flexible connecting member 2 are grounded. The cylindrical rotating bodies 10d, 10d are pressed against the ground, and the connecting member 2 deforms according to the unevenness of the ground, thereby improving grounding. The base 49 is connected to the connecting members 27, 27 via telescopic cylinders 90, 90 provided on both sides. The telescopic cylinders 90, 90 can be extended and retracted by the control device of the mowing device 40 (not shown) or by external control, thereby making it possible to adjust the angle of the cylindrical rotating bodies 10d, 10d. The mowing mechanism 41' according to the modified example is suitable for cases in which the recess between the ridges 45 has a substantially triangular cross section, and even when the depth of the recess varies, it is possible to always obtain high grounding by extending and retracting the telescopic cylinders 90, 90. As described above, in the eighth embodiment, the cylindrical rotating body 10d is configured to have the blades 19, so that the rotating body assembly can be used to configure agricultural machinery (farm work vehicle).

[0082] Ninth embodiment Next, a rotating body assembly 1g according to the ninth embodiment will be described. Here, FIG. 15 is a diagram showing an example of an agricultural work vehicle (agricultural implement) 5 which is a working device equipped with the rotating body assembly 1g according to the ninth embodiment. The agricultural work vehicle (agricultural implement) 5 according to the ninth embodiment has three types of cylindrical rotating bodies 10d, 10g1, and 10g2, and the cylindrical rotating bodies 10d, 10g1, and 10g2 are connected in the longitudinal direction and width direction of the rotating bodies via long connecting members 25a and 25b. The three connecting members 2a to 2c which connect 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 long connecting members 25a and 25b, and the vehicle can be self-propelled by the wheels 30 by receiving power supply from a power source installed in the main body (not shown). The cylindrical connecting members 2a to 2c may be provided with an extension mechanism (for example, the extension cylinder 90 shown in FIG. 27) that extends and retracts horizontally, so that the distance between the wheels 30, 30 can be automatically adjusted by a control device (not shown).

[0083] The cylindrical rotating body 10d has a blade 19 on its surface, as in the eighth embodiment, and functions as a grass-cutting mechanism 41. The cylindrical rotating body 10g1 has an on-off valve (on-off inlet) for putting plant seeds into the cylindrical rotating body 10g1, a storage chamber for storing the seeds, and an on-off outlet for sowing the seeds in the storage chamber, and functions as a sowing mechanism 46. The cylindrical rotating body 10g2 has an on-off valve for taking water into the cylindrical rotating body 10g2 and an opening (outlet) for spraying water, and functions as a watering mechanism 47. The watering mechanism 47 can also be watered while supplying water by connecting a hose or the like from the outside. This allows the agricultural work vehicle (agricultural implement) 5 equipped with the rotating body assembly 1g to perform tilling, sowing, and watering simultaneously while moving.

[0084] 15 shows an example of an agricultural work vehicle (agricultural machinery) that simultaneously performs tilling, sowing, and watering, but the present invention is not limited to this configuration, and an agricultural work vehicle (agricultural machinery) that simultaneously performs various operations can be configured by giving each cylindrical rotor various functions. For example, the vehicle may be configured to use the watering mechanism 47 to spray disinfectant, fertilizer, herbicide, pollen (for pollination, etc.) instead of water.

[0085] Tenth Embodiment Next, the tenth embodiment will be described. Here, FIG. 16(A) is a diagram showing an example of a working device 3 equipped with a cylindrical rotating body 10, FIG. 16(B) is a diagram showing an example of a working device 3a equipped with a rotating body assembly 1e, and FIG. 16(C) is a diagram showing an example of a working device 3b equipped with a rotating body assembly 1f having a bent portion. As shown in FIG. 16(A), (B), and (C), the working devices 3, 3a, and 3b according to the tenth embodiment are composed of a base portion (lower part of the sack) 31 and a cylindrical rotating body 10 or a rotating body assembly 1. In addition, the base portion 31 having a truncated cone-shaped internal space (hole) can be fitted on a human finger and functions as a finger sack that can be designed according to the size of each finger. In addition, the tip portion of the working device 3 is the cylindrical rotating body 10 or the rotating body assembly 1. The working device 3b has a bent portion composed of a movable connecting member 27. The power supplied to the working device 3 can be supplied from a battery provided in the base portion 31, or it may be configured so that power is supplied directly from a commercial power source or the like via a power cable.

[0086] The working devices 3, 3a, and 3b can be used, for example, as follows. For example, by attaching a cloth for wiping dirt to the outer periphery of the exterior body 13 of the cylindrical rotating body 10, it can be used as a sanitary tool for wiping the human body, particularly the inside of the oral cavity. Also, by attaching a brush for removing dirt to the outer periphery of the exterior body 13 of the cylindrical rotating body 10, it can be used as a toothbrush, and in particular, according to the working device 3b, the front and back sides of the teeth T can be brushed simultaneously (including the gums) by the rotor assembly 1f. Also, by attaching a drill bit to the end of the exterior body 13 of the cylindrical rotating body 10, it can be used as a drill. Furthermore, a spoon can be attached to the tip of the working device 3 to assist a person who needs care in eating. Also, by providing the working device 3 with a known suction mechanism for sucking phlegm from the throat, it is possible to easily suck phlegm from a person who needs care. The surface of the exterior body 13 of the cylindrical rotating body 10 may be covered with an elastic body such as rubber, and the working device 3 may be used for applying medicine.

[0087] As described above, the working devices 3, 3a, and 3b according to the tenth embodiment have the cylindrical rotating body 10 or the rotating body assembly 1 attached to their tip portions, and can thus be used in situations of maintaining hygiene or providing care. Note that in the above-mentioned example, a configuration as a finger cot that is worn on the tip portion of a finger is illustrated, but the present invention is not limited to a finger cot, and for example, the cylindrical rotating body 10 or the rotating body assembly 1 may be attached to the tip portion of a finger of a glove via the base portion 31.

[0088] Eleventh Embodiment Next, a rotating body assembly 1h according to an eleventh embodiment will be described. Fig. 17(A) is a diagram showing a connecting member 50 constituting the rotating body assembly 1h according to the eleventh embodiment, and Fig. 17(B) is a diagram showing the rotating body assembly 1h according to the eleventh embodiment. The rotating body assembly 1h according to the eleventh embodiment is configured and operates in the same manner as the rotating body assembly 1 according to the first embodiment, except that it is provided with the connecting member 50.

[0089] As shown in FIG. 17(A), the connecting member 50 is a cube, and has a plurality of convex connecting portions 50a and concave connecting portions 50b. In the example shown in FIG. 17, three of the six faces of the cube have the convex connecting portions 50a, and the remaining three faces have the concave connecting portions 50b, but the number of the convex connecting portions 50a and the concave connecting portions 50b can be changed as appropriate. In addition, in this embodiment, the connecting member 50 is exemplified as a cube, but the number is not limited to this configuration, and may be a rectangular parallelepiped. Furthermore, the connecting member 50 is not limited to a hexahedron, and may be a pentahedron, a tetrahedron, or a 7 or more-sided body. Furthermore, the connecting member 50 may be a sphere, etc.

[0090] FIG. 17(B) illustrates a configuration in which the cylindrical rotating body 10 is connected to the connecting member 50 shown in FIG. 17(A). The connecting member 50 shown in FIG. 17(A) can connect up to six cylindrical rotating bodies 10. In FIG. 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 may 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 they may be configured like a ball joint to allow the mounting angle of the cylindrical rotating body 10 to be movable.

[0091] In this way, by connecting a plurality of cylindrical rotating bodies 10 via the connecting members 50, various shapes can be realized. For example, as shown in FIG. 18(A), a rotating body assembly 1i in which cylindrical rotating bodies 10 are arranged two-dimensionally, or a rotating body assembly 1j in which cylindrical rotating bodies 10 are arranged three-dimensionally can be configured. Four wheels 30 are installed on the underside of the rotating body assembly 1j. The wheels 30 can be replaced with road rollers or caterpillars, or the cylindrical rotating bodies 10 may be configured to run as wheels without providing the wheels 30. In addition, when the cylindrical rotating bodies 10 are arranged three-dimensionally as shown in FIG. 18(B), the height of the rotating body assembly 1j can be adjusted by expanding and contracting the cylindrical rotating bodies 10 extending in the height direction.

[0092] Also, as shown in FIG. 18(B), a rotor assembly 1j in which multiple cylindrical rotors 10 are connected in a three-dimensional manner can be used as a pallet (a loading platform for carrying luggage used in logistics). Also, a basket (box) can be placed within the frame of multiple cylindrical rotors 10, and the uppermost cylindrical rotor 10 can be rotated to automatically perform harvesting work. Although not shown, a rotor assembly 1i can be attached to the underside of a normal pallet to make it a self-propelled pallet. In this case, multiple cylindrical rotors 10 can be stored in the pallet when left stationary, and deployed from the pallet only when traveling. It is preferable that a pallet using multiple cylindrical rotors 10 is designed so that the pallets can be stacked on top of each other.

[0093] Also, as shown in FIG. 18(C), a car can be mounted on the rotating body assembly 1j. When mounting a car, a plate may be placed on the upper surface of the rotating body assembly 1j, or the cylindrical rotating bodies 10 may be arranged at a narrow pitch so that the tires of the car can be placed on it. The rotating body assembly 1j can also be driven by the battery of the installed car as a power source. The rotating body assembly 1j may be waterproof, in which case the car can be moved without being submerged when water rises above the floor level due to a flood or the like.

[0094] In this way, in the rotating body assemblies 1h to 1j according to the eleventh embodiment, by using the connecting member 50 having connecting portions on a plurality of surfaces, as shown in Figs. 18(A) and (B), the user can freely assemble the rotating body assemblies 1h to 1j to configure a working device. If the working device is configured to be small in size, the user can play with it as a car toy by assembling the rotating body assemblies 1h to 1j like blocks. In addition, the cylindrical rotating body 10 can be assembled like blocks according to the user's purpose to configure a rotating body assembly. Note that the connecting member 50 is merely an example, and any shape of connecting member can be used as long as it allows the cylindrical rotating body 10 to be assembled like blocks.

[0095] <Twelfth embodiment> Next, a working device 60 including a rotating body assembly 1k according to the 12th embodiment will be described. Fig. 19 is a diagram showing an example of the rotating body assembly 1k according to the 12th embodiment. In the example shown in Fig. 19, a working device 60 in which the rotating body assembly 1k can be used as a pruning machine for shaping trees in a Western garden or the like in a symmetrical manner will be described.

[0096] As shown in FIG. 19, the working device 60 of the 12th embodiment is configured as a triangular arch by connecting multiple cylindrical rotating bodies 10 in a straight line and stabilizing the upper part with a long and thin member R such as a rope or rail and a turntable (rotating plate) 63. A main body 61 equipped with multiple pulleys 62 can move along the long and thin member R. The main body 61 and the rotating body assembly 1k are connected via a 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 wound by the height adjustment device 64. In the illustrated example, the height adjustment device 64 is configured with two winches, but it may be one unit or three or more units. The height adjustment device 64 may be configured with a device other than a winch (for example, the telescopic cylinder shown in FIG. 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 consisting of two rotating body assemblies 1k. Each side of the pruning mechanism 66 is composed of a rotating body assembly 1k. The number of cylindrical rotating bodies 10 constituting the rotating body assembly 1k is not limited to four as illustrated, and may be one or more. The rotating body assembly 1k is connected to a caster base 67 having wheels 30 at the lower end that contacts the ground via a movable connecting member 27. The wheels 30 may be auxiliary wheels that are not connected to a driving source, or wheels that are connected to a driving source and can move independently. The rotating body assembly 1k can also be rotated by rotating the turntable 61. The working device 60 of the 12th embodiment is provided with a telescopic mechanism 90 (for example, the same as the telescopic cylindrical body 90 shown in FIG. 27) that telescopically extends and retracts in the length direction on the caster base 67, and the length of the telescopic mechanism 90 can be automatically adjusted by a control device (not shown) according to the opening degree of the opening degree adjustment device 65. A blade 19 is attached to the exterior body 13 of each cylindrical rotor 10 constituting the rotor assembly 1k. By rotating the rotor assembly 1k about the center line L so that the trajectory of the wheels 30 forms a circle, it is possible to remove excess branches from the tree surrounded by the rotor assembly 1k and trim the tree into a cone shape.

[0097] As described above, in the rotor assembly 1k according to the twelfth embodiment, a plurality of cylindrical rotors 10 are connected to form a triangular arch, which can be used as a device for trimming the shape of trees. In the example shown in FIG. 19, the rotor assembly 1k is configured as a triangular arch, but is not limited to this shape, and may be, for example, a mountain-shaped arch, a U-shaped arch, a trapezoid, or a rectangular parallelepiped. In other words, a U-shaped pruning mechanism may be configured by configuring the opening adjustment device 65 to be long and installing a cylindrical rotor or rotor assembly to which a blade 19 extending horizontally is attached below the opening adjustment device 65. A work device equipped with a U-shaped pruning mechanism makes it possible to efficiently perform pruning work on hedges and grape trellises with a rectangular parallelepiped cross section. In addition, instead of having casters with wheels 30 at the lower end, the configuration may be such that a turntable is provided to rotate the rotating body assembly 1k, or such that a cylindrical rotating body or rotating body assembly is provided as a driving wheel instead of the wheels 30.

[0098] Fig. 67(A) is a side view illustrating a first posture of a working device 160 according to a modified example of the twelfth embodiment, and (B) is a side view illustrating a second posture. Each cylindrical rotating body 10 constituting a rotating body assembly 1k of the working device 160 is connected via a movable connecting member 27. Therefore, it is possible to change the angle between the cylindrical rotating bodies 10 connected via the connecting member 27. For example, as shown in Fig. 67(B), each cylindrical rotating body 10 can be arranged in a zigzag pattern. In addition, the working device 160 can move the main bodies 161a, 161b, the pulleys 162a, 162b, the height adjustment devices 164a, 164b, and the opening adjustment devices 165a, 165b along the opening / closing rails 163a, 163b. Therefore, for example, the main bodies 161a, 161b can be moved in a direction separating them from each other from the closed position shown in Fig. 67(A) to the open position shown in Fig. 67(B). The working device 160 having such a configuration can trim trees into various shapes by separating the main bodies 161a, 161b and the like and by varying the angle between the cylindrical rotating bodies 10. The pulleys 162a, 162b may be replaced with the cylindrical rotating bodies 10.

[0099] Thirteenth Embodiment Next, the carriages 80a and 80b equipped with the cylindrical rotating body 10 according to the thirteenth embodiment will be described.

[0100] FIG. 20(A) is a front view of a dolly 8a in which a cylindrical rotating body 10 is attached via a telescopic cylinder 90 and a wheel fixture 84 under a base part 81 of the dolly 8a having a plurality of wheels 30. When the telescopic cylinder 90 is extended, the wheels 30 and the cylindrical rotating body 10 are in contact with the ground, and when the telescopic cylinder 90 is contracted, only the wheels 30 are in contact with the ground. A power supply device may be provided in the dolly 8a, and power may be supplied from the dolly 8a to the cylindrical rotating body 10. In this case, the power supply device of the dolly 8a may be provided with a commercial power source, a solar panel, or a battery capable of being charged by radio waves. Although FIG. 20(A) illustrates an example in which one cylindrical rotating body 10 is provided, a configuration in which multiple cylindrical rotating bodies 10 are provided can also be used. In this way, by configuring the cylindrical rotating body 10 to be attached under the dolly 8a, it is possible to assist the dolly 8a in traveling and prevent it from falling over. Furthermore, by providing protrusions at regular intervals on the exterior body 13 of the cylindrical rotating body 10, it is possible to better assist the cart in traveling on soil with poor footing and prevent it from falling over. Furthermore, by attaching a blade 19 (not shown) to the exterior body 13 of the cylindrical rotating body 10, it is possible to make the cart capable of weeding while carrying luggage. The legs consisting of the telescopic cylinder 90 and the wheel fixing device 84 are telescopic, and the height of the cylindrical rotating body 10 can be adjusted according to the traveling environment of the cart 8b. The cylindrical rotating body 10 can also be used as a device for applying a sheet made of a resin film (such as a multi-seeder). For example, it can be used to automatically lay weed control sheets, agricultural sheets (mulch sheets), and sheets for covering tennis courts and golf courses.

[0101] As shown in FIG. 20(B), this is a front view of the dolly 8b in which the telescopic cylinder 90a is connected to the wheel support 85 that connects the wheel 30 and the base 80. The dolly 8b can freely change the distance between the base 80 and the wheels 30 (the height of the dolly) by extending and retracting the telescopic cylinder 90a. Unlike the illustrated example, the wheel support 85 and the telescopic cylinder 90a can be configured to be connected in multiple units. In addition, in the configuration shown in FIG. 20(B), as in the example shown in FIG. 20(A), a cylindrical rotating body 10 is provided under the base 80 of the dolly to assist the dolly 8b in traveling and prevent it from falling over. The rotating body support 86 is connected to the telescopic cylinder 90b, and is connected to the cylindrical rotating body 10 installed horizontally under the dolly 8b via the connecting member 50. As a result, the height position of the cylindrical rotating body 10 under the dolly 8b from the ground can be changed by extending and retracting the telescopic cylinder 90b. In addition, since the height position from the ground of the cylindrical rotating body 10 under the dolly 8b can be changed, the length and size of the claws (protrusions) and blades attached to the cylindrical rotating body 10 under the dolly 8b can also be changed. Note that, instead of the claws and blades, brushes, rollers (for cleaning and painting), and other members can be attached to the cylindrical rotating body 10 under the dolly 8b. Also, instead of the wheels 30, road rollers or caterpillars may be provided.

[0102] As shown in FIG. 20(C), a cylindrical rotating body 10 for driving the wheels 30 may be provided and connected to the telescopic cylinder 90a via a connecting member 59. The dolly 8c is provided with a telescopic cylinder 90c on both sides of the base 80, and the widthwise distance of the wheels 30 arranged opposite to each other can be adjusted. The dolly 8c may be configured to have two or more wheels 30. For example, as shown in FIG. 21, a three-wheel mechanism may be configured in which the wheels 30a to 30c are arranged on shafts 29a to 29c extending radially from the connecting member 20. In this configuration, the wheels 30a and 30b can be placed in a first position where the wheels 30a and 30b are on the ground, a second position where the wheels 30c and 30a are on the ground, and a third position where the wheels 30c and 30b are on the ground, so that the dolly can climb stairs. By placing a basket between the two three-wheel mechanisms arranged opposite to each other, the dolly can be used as a cart. It is preferable to adopt wheels 30a to 30c equipped with wheel-in motors. Instead of the wheels 30a to 30c, three cylindrical rotating bodies 10 may be provided on each of the shafts 29a to 29c. With such a configuration, the vacuum cleaner can be used, for example, for cleaning staircases. The shafts 29a to 29c may be provided with telescopic mechanisms 90a to 90c (for example, the telescopic cylinder 90 shown in FIG. 27). In this case, the telescopic mechanisms 90a to 90c can be automatically extended and retracted to absorb steps.

[0103] Fourteenth Embodiment Next, a description will be given of a transport device 153 which is a working device including the cylindrical rotating body 10 according to the fourteenth embodiment. Fig. 22(A) is a side view of the transport device 153 including the cylindrical rotating body 10 according to the fourteenth embodiment.

[0104] As shown in FIG. 22(A), in the 14th embodiment, pulleys 62a and 62b having grooves corresponding to the thickness of the rope R are connected to both ends of the cylindrical rotating body 10. The two ropes R1 and R2 are fitted into the grooves of the pulleys 62a and 62b, and the cylindrical rotating body 10 is rotated and traveled along the two ropes R1 and R2. The two ropes R1 and R2 can also be hung vertically or obliquely and held by holding mechanisms attached to both ends of the cylindrical rotating body 10, so that the cylindrical rotating body 10 can be rotated and traveled vertically or obliquely. In this embodiment, a configuration in which one cylindrical rotating body 10 bridges between the two ropes R1 and R2 has been disclosed. However, differently from this, as shown in FIG. 22(B), the two ropes R1 and R2 may be bridged by a plurality of cylindrical rotating bodies 10 connected via a flexible connecting member 2. The number of cylindrical rotating bodies 10 connected via the connecting members 2 is not limited to the illustrated number, and may be two or four or more. In the working device 153 according to the modified example shown in FIG. 22(B), the flexible connecting members 2 deform to absorb the shaking during running, so that the stability during running can be improved. Furthermore, in the working device 153 according to the modified example shown in FIG. 22(B), the telescopic mechanisms 90a, 90b (for example, the telescopic cylinder 90 shown in FIG. 27) are provided between the pulleys 62a, 62b and the cylindrical rotating body 10, so that even if the distance between the ropes R1, R2 changes, the telescopic mechanisms 90a, 90b can be telescopically extended to improve the stability during running.

[0105] <Fifteenth embodiment> Next, a traveling device 54, which is a working device equipped with the cylindrical rotating body 10 according to the fifteenth embodiment, will be described. Fig. 23(A) is a plan view of the traveling device 54 equipped with the cylindrical rotating body 10 according to the fifteenth embodiment, and (B) is a plan view of a modified example of (A).

[0106] As shown in FIG. 23(A), a plurality of cylindrical rotating bodies 10 may be connected to a main body 55 like the legs of a centipede to form a running device 54. In this case, the main body 55 may be provided with a battery 16 and a control device 17, and a configuration may be adopted in which a control signal and power are supplied from the main body 55 to each cylindrical rotating body 10 via a movable connecting member 27. The main body 55 may have a plurality of parts that are connected to the connecting member 27, and the cylindrical rotating bodies 10 may be freely attached and detached. Here, as shown in FIG. 23(B), a rotating body assembly 1 consisting of a plurality of cylindrical rotating bodies 10 connected in series via the connecting member 27 may be connected to the main body 55 via the connecting member 27. Also, a configuration may be adopted in which the cylindrical rotating bodies 10 or the rotating body 1 may be freely attached and detached to the main body 55 without the connecting member 27. The running device 54 may be configured to have a size that allows it to be used as a toy car.

[0107] Sixteenth Embodiment As shown in FIG. 35, a working device 203a according to the sixteenth embodiment is configured to include a main body 204, a handle 205, cylindrical rotating bodies 210a to 210b, connecting members 220a to 220b, and tip members 221a to 221b. The cylindrical rotating bodies 210a-210b have a large number of bristles 213 (not shown in FIG. 35) planted on the surface, and brushing can be performed by rotating the cylindrical rotating bodies 210a-210b. The main body 204 connecting the connecting members 220a-220b is a rod-shaped member made of a flexible material such as resin. The main body 204 may be provided with a through hole for inserting a suction tube or the like, and this configuration makes it possible to suck saliva and phlegm from the throat. The main body 204 may be constructed of a cylindrical rotating body with a large number of bristles attached to its surface. In this case, brushing is performed while the teeth T are surrounded by the cylindrical rotating bodies 210a-210b and the main body 204, so that the front, end and back surfaces of the teeth T can be brushed simultaneously.

[0108] Tip members 221a-221b made of an elastic material such as rubber are attached to the tips of the cylindrical rotating bodies 210a-210b to prevent damage to the gums during brushing. An ultrasonic vibrator may be provided on the cylindrical rotating bodies 210a-210b or the tip members 221a-221b to remove plaque by sonic vibration. The cylindrical rotating bodies 210a to 210b attached to the connecting members 220a to 220b can adjust the angle with respect to the main body 204 (or the handle 205). Therefore, it is possible to perform the Bass method by placing the tips of the bristles of the bristles (brush) 213 at a 45 degree angle toward the boundary between the gums and the teeth, or to perform the scrubbing method by placing the tips of the bristles of the bristles (brush) 213 perpendicular to the teeth. A protective member 231 is connected to the handle 205 via a connecting member 230. The protective member 231 prevents the bristles (brush) 213 from contacting the inside of the lips and damaging the skin, and is made of, for example, a flexible resin material. A suction mechanism may be provided in the protective member 231, and this configuration makes it possible to suck saliva and phlegm from the throat through the protective member 231 as well. A protective member 232 similar to the protective member 231 is provided on the connecting member 220a. The power supplied to the working device 203a may be supplied by a battery provided in the main body 204 or the handle 205, or may be directly supplied from a commercial power source or the like via a power cable. In a configuration in which a battery is provided, charging can be performed by a known charging method (including wireless charging by radio waves). Also, a solar panel may be provided on the handle 205 to supply power. The handle 205 may be configured to be detachable from the main body 204, and may be configured to be replaceable with the device of the embodiment described below. Alternatively, the handle 205 may have the functions of the main body 204, and the main body 204 may not be provided (a single connecting member may serve as both the connecting members 220a and 220b).

[0109] The cylindrical rotating bodies 210a to 210b can have the same configuration as the cylindrical rotating body 10 described above. Alternatively, as shown in FIG. 36, the cylindrical rotating body 210 may have a configuration including a driving unit 211 and a rotating unit 212. The driving unit 211 incorporates a motor 240 that rotates a rotating shaft 241. The rotating shaft 241 extends outward from a bearing 242, and its end is connected to a fixed member 251 of the rotating unit 212. The fixed member 251 is fixed to an exterior body 252, and when the fixed member 251 rotates due to the rotation of the motor 240, the exterior body 252 also rotates together. The motor 240 can also be configured as a hollow motor. In this case, the rotating body 241 has a through hole, so that a suction tube, a fiber camera with a light, or the like can be inserted through the through hole. By inserting a suction tube through the through hole, a suction port can be provided in the tip member 221a-221b, making it possible to aspirate saliva or phlegm. By inserting a lighted fiber camera through the through hole, it is possible to capture images of the inside of the oral cavity and check the images captured using a smartphone or the like.

[0110] Also, as shown in FIG. 37, the working device 203b may be configured with cylindrical rotating bodies 210c-210d extending upward. The cylindrical rotating bodies 210a-210b are movably attached to the connecting member 220a, and the cylindrical rotating bodies 210c-210d are movably attached to the connecting member 220b, and the angles with respect to the main body 204 (or the handle 205) can be adjusted. The working device 203b makes it possible to brush the upper and lower teeth at the same time. In the working device 203b as well, the main body 204 can be configured with a cylindrical rotating body with many bristles planted on its surface. Note that the working device 203b is also provided with protective members 231-234 similar to the above-mentioned protective member 231 extending upward and downward. Furthermore, the connecting member 220a is provided with a balloon 206 on the opposite side to the main body 204. The balloon 206 can be expanded or contracted by supplying or discharging pressurized air through the connecting member 220a. The balloon 206 may be of a bellows type. The balloon 206 can assist the opening and closing of the mouth and train the muscles that move the tongue and jaw. The balloon 206 is usually placed on the tongue, but may also be placed under the tongue when used. The balloon 206 has a through hole, through which a tube member 207 is inserted. The tube member 207 may be a fiberscope that functions as a camera, a vacuum tube that functions as an extraoral suction device, or a medical instrument such as a needle nozzle for discharging or applying water or medicine, a catheter whose tip can be remotely controlled, an endoscope, or a cotton swab for stimulating the pharynx. Here, instead of the balloon 206, a thick disk-shaped or roughly teardrop-shaped elastic member (a mouth-jack mechanism made of rubber or the like) for training the jaw, tongue and / or throat may be provided, which is located on the throat side of the main body when worn. Furthermore, the elastic member may have a through hole, and may be configured to include a vacuum tube, a needle nozzle, a catheter, an endoscope, a cotton swab or a fiber camera inserted into the through hole of the balloon.

[0111] Seventeenth Embodiment Working device 303a according to the seventeenth embodiment includes main body 304, handle 305, cylindrical rotating bodies 310a and 310b, inner movement mechanism 320, and outer movement mechanism 330. Fig. 38(A) is a side view of working device 303a, and Fig. 38(B) is a cross-sectional view taken along line AA in Fig. 38(A). The main body 304 has a mouthpiece shape when viewed from above (see FIG. 38(B)), and is made of an elastic resin member and a deformable metal wire frame, and can be deformed according to the size of the wearer's jaw when used. Cylindrical rotating bodies 310a, 310b are provided on the bottom side of the main body 304. The main body 304 is provided with an inner movement mechanism 320 and an outer movement mechanism 330. The inner movement mechanism 320 of this embodiment is made of a rack and pinion mechanism, and a pinion part 322 having a pinion 322a can reciprocate along a rack 321 that forms a substantially C-shaped curve. As shown in Fig. 39(A), a cylindrical rotating body 310a is connected to the lower side of the pinion part 322 of the inner movement mechanism 320, and is moved along the rack 321 together with the pinion part 322. As in the sixteenth embodiment, the cylindrical rotating body 310a includes a drive part 311 and a rotating part 312. A large number of bristles (not shown) are planted on the surface of the rotating part 312, and brushing can be performed by rotating the rotating part 312.

[0112] The outer moving mechanism 330 is composed of a rack and pinion mechanism, and a pinion unit 332 having a pinion 332a can reciprocate along a rack 331 that forms a substantially C-shaped curve. A cylindrical rotating body 310b is connected to the lower part of the pinion unit 332 of the outer moving mechanism 330, and is moved along the rack 331 together with the pinion unit 332. The cylindrical rotating body 310b is similar to the cylindrical rotating body 310a, and brushing can be performed with the bristles on the surface by rotating the rotating unit 312. Power to be supplied to the working device 303a may be provided by a battery provided in the handle 304, or may be directly supplied from a commercial power source via a power cable. An electronic thermometer, a storage device, and a communication device may be built into the main body 304, and the stored oral temperature may be transmitted to an external computer. It should be noted that the inner movement mechanism 320 and the outer movement mechanism 330 are not limited to the illustrated rack-and-pinion mechanism, and may be configured, for example, by an electric slider of a ball screw mechanism.

[0113] According to the working device 303a according to the seventeenth embodiment described above, it is possible to automatically brush the front and back surfaces of each molar from one molar to the other. Also, the working device 303b may be configured with cylindrical rotating bodies 310c-310d extending upward from the pinion parts 322, 332 (see FIG. 39(B)). That is, a cylindrical rotating body 310c facing the cylindrical rotating body 310a and a cylindrical rotating body 310d facing the cylindrical rotating body 310b may be provided. The working device 303b makes it possible to simultaneously brush the front and back surfaces of the upper and lower teeth. The balloon 206 and / or the tube member 207 described above may be provided on the throat side (inner surface) of the main body 304.

[0114] Eighteenth embodiment The working device 403 according to the 18th embodiment is configured to include main bodies 404a and 404b, a handle 405, and cylindrical rotating bodies 410a to 410l. FIG. 40 is a bottom view of the working device 403. As shown in FIG. 40, twelve cylindrical rotating bodies 410a to 410l are arranged on the bottom surface of the main body 404 so as to be substantially upright in the vertical direction. The cylindrical rotating bodies 410a to 410v include a driving unit 411 and a rotating unit 412 (not shown) as in the 16th embodiment. A large number of bristles are planted on the surface of the rotating unit 412, and brushing can be performed by rotating the rotating unit 412. The main body 404a is attached to the handle 405 so that the gap G can be adjusted, and 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 surface of the main body 404a, 404b is not limited to the number shown in the example, and may be any number as long as there are more than one. Also, instead of providing a driving unit to each cylindrical rotating body 410, a driving unit may be provided only to some cylindrical rotating bodies 410, and the other cylindrical rotating bodies 410 may be rotated by transmitting a driving force using gears or the like. A sonic vibration generator may be provided on the handle 405, and sonic vibration may be transmitted to the teeth via the main body 404a, 404b and the cylindrical rotating bodies 410a to 410v. Here, the sonic vibration generator is provided with a linear motor that generates vibrations at, for example, 1200 to 40000 times per minute. Power to be supplied to the working device 403 may be provided by providing a battery on the handle 405, or may be directly supplied from a commercial power source or the like via a power cable.

[0115] <<Nineteenth embodiment>> The working device 603 according to the 19th embodiment is configured to include main bodies 604a and 604b, a handle 605, and a grip portion 606. FIG. 41 is a bottom view of the working device 603. As shown in FIG. 41, a large number of bristles 607a are planted on the side (inner side) of the main body 604a facing the main body 604b, and a large number of bristles 607b are planted on the side (outer side) of the main body 604b facing the main body 604a. The grip portion 606 has a built-in vibration device 608, and brushing can be performed by vibrating the main bodies 604a and 604b via the handle 605 in a direction perpendicular to the handle 605. The vibration from the vibration device 608 is efficiently transmitted to the ends of the main bodies 604a and 604b by a vibration plate 609 embedded in the handle 605, a vibration plate 610a embedded in the main body 604a, and a vibration plate 610b embedded in the main body 604b. The vibration plates 609, 610a, and 610b may be made of metal plates. The above-mentioned balloon may be provided, and the vibration plates may be provided within the balloon. Here, the vibration device may be provided on the handle 605 instead of on the grip portion 606. The vibration device 608 may be configured by a sonic vibration generator that generates vibrations at, for example, 1200 to 40000 times per minute. The main body 604a is attached to the handle 605 so that the gap G is adjustable, and the size of the gap G can be adjusted and fixed by moving the main body 604a. The handle 605 and the grip portion 606 may be detachably connected, and this configuration makes it easy to insert the handle 605 into the insertion hole 507 of the working device 503 of the 22nd embodiment for use. Power to be supplied to the working device 603 can be supplied from a battery provided in the grip portion 606, or may be directly supplied from a commercial power source or the like via a power cable.

[0116] A working device 613 according to a modified example of the 19th embodiment includes main bodies 614a and 614b, a handle 615, and a grip portion 616. FIG. 42 is a bottom view of the working device 613. As shown in FIG. 42, cylindrical rotating bodies 617a to 617o are embedded in the side (inner side) of the main body 614a facing the main body 614b, and cylindrical rotating bodies 619a to 619n are embedded in the side (outer side) of the main body 604b facing the main body 604a. Bristles 618a to 617o are planted at the ends of the cylindrical rotating bodies 617a to 617o, and bristle materials 620a to 620n are planted at the ends of the cylindrical rotating bodies 619a to 619n, and brushing can be performed by rotating the cylindrical rotating bodies 617a to 617o and the cylindrical rotating bodies 619a to 619n. The cylindrical rotating bodies 617a to 617o and the cylindrical rotating bodies 619a to 619n have the same configuration as the cylindrical rotating body described above, except that they have surfaces on which bristles are planted at the ends. The working device 613 may be provided with a vibration device and a vibration plate similar to those in the nineteenth embodiment. The main body 614a is attached to the handle 615 so that the gap between the main body 614b is adjustable, and the size of the gap can be adjusted and fixed by moving the main body 614a. Power to be supplied to the working device 613 can be supplied from a battery provided in the grip part 616, or it may be configured to be supplied directly from a commercial power source or the like via a power cable.

[0117] <<Twentieth embodiment>> A working device 633 according to the twentieth embodiment is configured to include belt support members 631, 632, a main body 634, cylindrical rotating bodies 635a-635f, 637a-637e, belt members 636, 638, a handle 639, and a grip portion 640. Fig. 43(A) is a bottom view of the working device 633, and (B) is a side view as viewed from the outer surface side. As shown in FIG. 43, cylindrical rotors 635a, 635b, 637a, and 637b are arranged on both ends of the main body 634. The cylindrical rotors 635a to 635f are referred to as a first rotor assembly, and the cylindrical rotors 637a to 637e are referred to as a second rotor assembly. A belt member 636 having a large number of bristles is wound around the outer periphery of the belt support member 631 and the first rotor assembly (cylindrical rotors 635a to 635f), and brushing can be performed by rotating the first rotor assembly. Similarly, a belt member 638 having a large number of bristles is wound around the outer periphery of the belt support member 632 and the second rotor assembly (cylindrical rotors 637a to 637e), and brushing can be performed by rotating the second rotor assembly. Protective members (not shown) are provided on the outer and inner surfaces of the main body 634 to prevent the inside of the lips or tongue from coming into contact with the bristles and causing injury to the skin. The protective members can be made of, for example, a flexible resin material. The power supplied to the working device 613 can be supplied from a battery provided in the grip portion 616, or may be directly supplied from a commercial power source or the like via a power cable.

[0118] <<Twenty-first embodiment>> As shown in FIG. 44, a working device 503 according to the twenty-first embodiment is configured to include a base 504, a connector 505, a mask member 506, an insertion hole 507, end members 508a to 508j, cylindrical rotating bodies 510a to 510p, and connecting members 520a to 520i. A large number of blades (not shown) are provided on the surfaces of the cylindrical rotating bodies 510a to 510p, and shaving can be performed by rotating the cylindrical rotating bodies 510a to 510p. Since shaving cannot be performed on the area where the connecting member 520 is located, the mask member 506 is moved to ensure that no areas are left shaved. The mask member 506 can also be moved to the head to shave hair. An ultrasonic vibration device that generates ultrasonic vibrations may be built into the cylindrical rotating bodies 510a to 510p or the connecting members 520a to 520i. An end member 508 is provided at the end of the cylindrical rotating bodies 510 that are connected to each other. The end member 508 is movably attached to the mask member 506, and the cylindrical rotating body 510 can reciprocate in the width direction of the mask member 506 by moving the end member 508. Unlike this embodiment, the end member 508 may be fixed to the mask member 506 so as not to be movable. Although the mask member 506 is illustrated transparently in FIG. 44, it is actually non-transparent.

[0119] The mask member 506 is detachably attached to the base 504 via the connector 505. The power to be supplied to the working device 503 may be supplied by a battery provided in the base 504 or the mask member 506, or may be directly supplied from a commercial power source via a power cable. In either case, it is preferable that the mask member 506 and the cylindrical rotating bodies 510a to 510p are configured to be detached from the base 504 for use. FIG. 45 is a diagram for explaining a state in which the mask member 506 and the cylindrical rotating bodies 510a to 510p are detached from the base 504 and the handle 405 of the working device 403 of the 18th embodiment is inserted into the insertion hole 507 provided in the mask member 506 for use. According to the use mode of FIG. 45, shaving and tooth brushing can be performed at the same time, which can improve the efficiency of nursing care work in nursing homes and hospitals, for example. Unlike this embodiment, a brush or bristles may be provided on the surface of the cylindrical rotating bodies 510a to 510n to configure a working device for use in massage, makeup removal, application of medicine, and the like.

[0120] <Twenty-second embodiment> Fig. 46(A) is a front view showing a first state of working device 533 according to the 22nd embodiment, and (B) is a front view showing a second state. As shown in Fig. 46, working device 533 according to the 22nd embodiment is configured to include cylindrical rotating bodies 540a-540c, connecting members 550a-550d, ear hook members 580a, 580b, and telescopic cylindrical bodies 590a, 590b. The cylindrical rotating bodies 540a to 540c have the same configuration as the cylindrical rotating body 510 according to the twenty-first embodiment, and are provided with blades for shaving beards and the like on their surfaces. The connecting members 550a to 550d have the same configuration as the connecting member 520 according to the twenty-first embodiment. The telescopic cylinder 590 has a configuration similar to that of the telescopic cylinder 90 described above, and an extension control device, an accumulator, and a hydraulic cylinder are disposed within the cylinder body. Ear hook members 580a, 580b are provided at the upper ends of the telescopic cylinders 590a, 590b. The ear hook members 580a, 580b are, for example, ring-shaped bodies made of an elastic body, and by hanging them on both ears, it becomes possible to attach the working device 533 to the face. The ear hook members 580a, 580b may be combined with a U-shaped device for fixing to the neck and fixed to the neck area, instead of hanging them on the ears.

[0121] The working device 533 has a control device provided on the cylindrical rotating body 540 or the telescopic cylindrical body 590, and can be operated from the outside by a wireless controller (not shown). By rotating the cylindrical rotating bodies 540a to 540c with the wireless controller, it is possible to scan the face and automatically shave whiskers and the like. At this time, by rotating the cylindrical rotating bodies 540a to 540c while telescopically extending the telescopic cylindrical bodies 590a, 590b, it is possible to eliminate unshaved areas where the connecting members 550a to 550d are located. The power supplied to the working device 533 can be supplied by a battery provided in the cylindrical rotating body 540 or the telescopic cylindrical body 590, or may be directly supplied from a commercial power source or the like via a power cable. Unlike the present embodiment, a brush, puff, cloth, cotton, writing brush, paint brush, etc. may be arranged on the surface of the cylindrical rotating bodies 540a to 540c to form a working device for use in massage, makeup removal, application of medicine, etc. Also, a handle connected to a bridge portion that bridges the connecting members 550b and 550c may be provided, and the cylindrical rotating bodies 540a to 540c may be configured so that the handle can be gripped to move the cylindrical rotating bodies 540a to 540c in the up, down, left, and right directions. Also, in the present embodiment, one rotating body assembly is formed by connecting the cylindrical rotating bodies 540a to 540c, but it may be formed by two rotating body assemblies arranged in parallel that branch off from the ear hanging members 580a and 580b. A mechanism for emitting mist or steam from the surface of the cylindrical rotating bodies 540a to 540c may be provided. Furthermore, the cylindrical rotating bodies 540a to 540c may be provided with an ultrasonic vibration function, an air purification function, and an oxygen emission function.

[0122] <Twenty-third embodiment> As shown in FIG. 47(A), the working device 801 according to the 23rd embodiment is a flying device that includes a base unit 80, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a-810d, connecting members 820a-820d, blade members 811a-811b and 812a-812b, and a connecting frame 813. As shown in Fig. 47(B), a working device 802 according to a modified example of the twenty-third embodiment is a flying device including a base unit 80, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a-810f, connecting members 820a-820f, blade members 811a-811b and 812a-812b, and a connecting frame 813. The cylindrical rotating body 810 has a similar configuration to the cylindrical rotating body 10 according to the first embodiment. The cylindrical rotating bodies 810a-810b have blade members 811a-811b and 812a-812b provided on their surfaces. The rotation speed and direction of each cylindrical rotor 810 can be individually controlled by a control unit 806 provided on the base unit 80. The cylindrical rotors 810 are connected to each other via movable connecting members 820, and the relative angle can be dynamically changed at the connecting members 820. For example, as shown in FIG. 47(A), the cylindrical rotors 810 can be in a straight positional relationship when ascending, and as shown in FIG. 47(B), a part of the cylindrical rotor 810 can be bent with respect to the base unit 80 when moving forward.

[0123] The base unit 80 includes a control unit 806 and a power supply unit 807. The control unit 806 includes an acceleration sensor, a horizontal sensor, and a ROM (Read Only Memory) in which a program for controlling the operation of each cylindrical rotating body 810 is stored, a CPU (Central Processing Unit) that executes the program stored in the ROM, and a RAM (Random Access Memory) that functions as an accessible storage device. The control unit 806 also includes a GPS and a wireless communication device, and can fly the working device 801 along a predetermined route by controlling the rotation speed of each cylindrical rotating body 810 based on a command received from the outside via the wireless communication device. The power supply unit 807 has a secondary battery that can be repeatedly charged, and supplies power for driving the cylindrical rotating body 810 and the like. In FIG. 47, the connecting frame 813 is shown as having a configuration in which the base portion 80 communicates with the connecting frame 813, but it may be connected to the upper surface side or the lower surface side of the base portion 80. The working device 801 according to the 23rd embodiment can maintain the platform 80 substantially horizontal during ascent and forward movement by dynamically changing the relative angle of each cylindrical rotating body 810 at the connecting member 820. That is, the control unit 806 detects the attitude of the working device 801 using a horizontal sensor, and when the attitude changes, the control unit 806 controls the rotation speed of each cylindrical rotating body 810 and the angle of each cylindrical rotating body 810 connected by the connecting member 820, respectively, so that the attitude of the working device 801 can always be maintained horizontal. In a helicopter, the rotation plane needs to be inclined when moving forward, but the working device 801 moves forward while always being horizontal, so that the ride is comfortable when a person appears. The platform 80 is not limited to the illustrated shape, and any modification is possible. For example, the base 80 may be provided with an attachment so that it can be attached to vehicles (automobiles, trucks, farm vehicles, etc.), heavy construction machinery, work machines, civil engineering machines, farm machinery (chainsaws, etc.), construction machines, containers, baskets, airplanes, ships, humanoid robots, work robots, etc. Also, a connecting mechanism may be provided on the side of the base 80 so that multiple work devices 801 can be connected to each other. A robot hand (for example, the robot hand of the sixth embodiment shown in FIG. 10) having multiple fingers formed of wheels or cylindrical rotating bodies connected in series may be provided on the lower part of the base 80. The working device 801 may be made small and used as a toy. In this case, an attachment may be provided to the base 80 so that it can be combined with a toy such as a robot.

[0124] <Twenty-fourth embodiment> As shown in Figures 48 to 51, the working device 803 according to the 24th embodiment is configured to include a main body 804, fixing members 805a to 805d, a control unit 806, a power supply unit 807, cylindrical rotating bodies 810a to 810h, blade members 811a to 811h and 812a to 812h, connecting members 820a to 820h, and a detection mechanism 830, and is a flying device that functions both as a drone and an autogyro. The cylindrical rotors 810a-810h have the same configuration as the cylindrical rotor 10 according to the first embodiment, and have blade members 811a-811h and 812a-812h on their surfaces. The rotation speed and direction of each cylindrical rotor 810 can be individually controlled by the control unit 806. It is also possible to operate only specific cylindrical rotors 810a-810h. The cylindrical rotors 810a-810h are connected to each other via movable connecting members 820a-820h, and can be fixed in a state where the relative angle is changed at the connecting members 820a-820h. For example, as shown in FIG. 48(B), by bending the cylindrical rotating bodies 810a, 810c, 810e, and 810g by 90 degrees at the connecting members 820a, 820c, 820e, and 820g, horizontal propulsive force can be generated by the blade members 811a, 811c, 811e, and 811g and 812a, 812c, 812e, and 812g (horizontal movement mode). In this case, the rotation direction of the cylindrical rotating body whose end is located on the traveling direction side is opposite to that of the cylindrical rotating body whose end is located on the opposite side to the traveling direction side. In the horizontal movement mode, the bending angle of the cylindrical rotating body 810 by the connecting member 820 does not necessarily have to be 90 degrees, and it is also possible to move the cylindrical rotating body 810 diagonally upward or downward by adjusting the angle within a range of, for example, 60 to 120 degrees. 48(A), cylindrical rotating body 810a is bent outward at connecting member 820a, and cylindrical rotating body 810c is bent outward at connecting member 820c, but they may be bent inward, or may extend vertically without bending. Also, it is naturally possible to arrange cylindrical rotating bodies 810a-810h adjacent to each other in the vertical direction so that their center lines form a straight line.

[0125] 48(C) is a side view showing the load-loading mode of working device 803. Four connecting members 820b, 820d, 820f, 820 provided near main body 804 are also called base connecting members, and by bending cylindrical rotating bodies 810a-810h outward based on a command from control unit 806, it is possible to position blade members 811a-811h and 812a-812h in positions that do not get in the way when loading a load on the upper surface of main body 804. The connecting members 820b, 820d, 820f, and 820h are fixed to the main body 804 via the fixing members 805a to 805d. Here, as in the modified example shown in FIG. 49, a lateral extension mechanism 841 (for example, the telescopic cylinder shown in FIG. 27) that horizontally expands and contracts at the portion connecting the fixing members 805a to 805d of the main body 804 may be provided, so that the distance between the fixing members 805a to 805d can be adjusted. With this configuration, it is possible to adjust the size of the space on the upper surface of the main body 804, and also to adjust the center of gravity. In addition, in the modified example shown in FIG. 49, a vertical extension mechanism 842 (for example, the telescopic cylinder shown in FIG. 27) that can adjust the distance between the connecting members 820a to 820h and the main body 804 is provided. With this configuration, it is possible to raise the wing members 811 and 812 to a position where they do not get in the way when loading luggage on the upper surface of the main body 804, and also to adjust the center of gravity.

[0126] The cylindrical rotors 810a and 810b and the connecting members 820a and 820b constitute the first propeller 808a, the cylindrical rotors 810c and 810d and the connecting members 820c and 820d constitute the second propeller 808b, the cylindrical rotors 810e and 810f and the connecting members 820e and 820f constitute the second propeller 808c, and the cylindrical rotors 810g and 810j and the connecting members 820g and 820h constitute the fourth propeller 808d. As shown in FIG. 51, the first propeller 808a is arranged point-symmetrically with the fourth propeller 808d, and the second propeller 808b is arranged point-symmetrically with the third propeller 808c. From another perspective, the first propeller 808a and the second propeller 808b are arranged line-symmetrically with the third propeller 808c and the fourth propeller 808d.

[0127] The main body 804 includes a control unit 806 and a power supply unit 807. The control unit 806 includes an acceleration sensor (which may be installed in the detection mechanism 830 described later), a ROM (Read Only Memory) in which a program for controlling the operation of each cylindrical rotating body 810 is stored, a CPU (Central Processing Unit) that executes the program stored in the ROM, and a RAM (Random Access Memory) that functions as an accessible storage device. The control unit 806 also includes a GPS (which may be installed in the detection mechanism 830 described later) and a wireless communication device, and can fly the working device 803 along a predetermined route by controlling the rotation speed of each cylindrical rotating body 810 based on a command received from the outside via the wireless communication device. Furthermore, the control unit 806 can detect the attitude of the working device 803 using an acceleration sensor and a gyro sensor, and when the attitude of the working device 803 changes due to wind or the like, can stabilize the attitude of the working device 803 by controlling the rotation speed of each cylindrical rotating body 810. Further, a distance sensor may be provided in the working device 803, and the control unit 806 may be provided with a function for avoiding collisions based on the detection value of the distance sensor. The power supply unit 807 has a secondary battery that can be repeatedly charged, and supplies power for driving the cylindrical rotating body 810 and the like. The detection mechanism 830 includes various sensors, a camera for capturing images of the surroundings of the flying object, etc. The various sensors include sensors that detect information about the flight conditions, such as a GPS, an acceleration sensor, a speed sensor, a gyro sensor, an altimeter, a wind gauge, and a radar for recognizing obstacles on the flight route. The control unit 806 can automatically control the bending degree of the cylindrical rotating body 810 by the connecting member 820 in response to changes in acceleration detected by the detection mechanism 830 and changes in conditions such as wind, thereby realizing an optimal propulsive force and center of gravity. In addition, in the modification shown in Fig. 49, the control unit 806 can automatically control the extension and contraction of the lateral extension mechanism 841 and the vertical extension mechanism 842 individually in response to changes in acceleration detected by the detection mechanism 830 and changes in conditions such as wind, thereby realizing an optimal center of gravity.

[0128] The forms shown in Figs. 48 and 49 are examples, and various modifications are possible. For example, the number of cylindrical rotating bodies 810 is not limited to the eight illustrated, and may be arranged one at a time in four locations, or three or more at a time in four locations. The locations at which the cylindrical rotating bodies 810 are arranged are not limited to the four illustrated, and may be three or more locations, and may be arranged point-symmetrically or line-symmetrically in, for example, five, six, or eight locations. In addition, two or more pairs of blade members 811 and 812 may be provided on one cylindrical rotating body 810. In addition, the working device 803 can be modified into a device for flying an automobile or a ship, and an attachment for attaching to an automobile may be provided on the bottom side of the main body 804, so that it can be attached to an automobile or a ship. Furthermore, an attachment for turning an existing airplane into a drone or for transporting the airplane may be provided on the bottom side of the main body 804. 50 is a side view showing an example of an attachment 821 for attaching a working device 803 to the roof of an automobile (note that the roof of an automobile needs to be reinforced so as to support the vehicle weight). In this case, a power supply port for supplying power to the working device 803 from a battery of the automobile or ship may be provided on the main body 804. The attachment 821 may be configured so as to be attachable to vehicles such as trucks and agricultural vehicles, heavy construction equipment, work machines, civil engineering machines, agricultural machines (such as chainsaws), building machines, containers, baskets, ships, airplanes, humanoid robots, work robots, etc.

[0129] <Twenty-fifth embodiment> As shown in FIG. 52, the working device 830 according to the twenty-fifth embodiment is a flying device including a fuselage 831, main wings 832a-832b, horizontal tails 833a-833b, a vertical tail 834, cylindrical rotors 835a-835p, blade members 836a-836p and 837a-837p, connecting members 838a-838p, support columns 839a-839d, and wing connecting members 840a-840f. The cylindrical rotors 835a-835p have the same configuration as the cylindrical rotor 10 according to the first embodiment, and have blade members 836a-836p and 837a-837p on their surfaces. The rotation speed and direction of each cylindrical rotor 835 can be controlled individually. The number of cylindrical rotors 835 is not limited to the illustrated number, and may be configured similarly to an Osprey, for example, in which each of the main wings 832a-832b is provided with a set of cylindrical rotors 835, blade members 836 and 837, and connecting member 838. In the working device 830 of the 25th embodiment, like the working device 803 of the 24th embodiment, the cylindrical rotating bodies 835a to 835p can be bent (the angle can be adjusted) at least in the range of 90 degrees forward or backward at the connecting members 838a to 838p. Therefore, for example, most or all of the cylindrical rotating bodies 835a to 835p are extended vertically during ascent, and most or all of the cylindrical rotating bodies 835a to 835p are extended forward or backward 90 degrees during flight, so that it is possible to switch between an ascent mode in which the cylindrical rotating body ascends even in places without a runway and a flight mode in which the cylindrical rotating body flies after ascent. Here, in the flight mode, the rotation direction of the cylindrical rotating body with the blade member located on the traveling direction side is opposite to that of the cylindrical rotating body with the blade member located on the opposite side to the traveling direction side. The working device 830 can be a manned type operated by a person by providing a cockpit in the body 831, or an unmanned type that flies based on commands received from the outside via a wireless communication device.

[0130] 52, the wing connecting members 840a-840d cover the main wings 832a-832b, and the wing connecting members 840e-840f cover the horizontal tails 833a-833b, but the configuration of the wing connecting member 840 is not limited to the illustrated embodiment. For example, when flaps, spoilers, elevators, etc. are provided on the main wings and horizontal tails, a wing connecting member protruding from the bottom surface of the main wings and / or horizontal tails may be provided so as not to interfere with these, and a connecting member 838 may be provided on the side of the wing connecting member. In this case, the connecting member may be provided via a support column extending beyond the front or rear end of the wing. In addition, cylindrical rotor 835, blade members 836 and 837, and connecting member 838 of this embodiment can also be additionally provided on existing jet planes or propeller planes.

[0131] <Twenty-sixth embodiment> 53 is a perspective view showing a working apparatus 700 according to the 26th embodiment. The working apparatus 700 of the 26th embodiment is capable of moving along an elongated member R such as a rope or rail, and forms an agricultural tunnel by attaching a vinyl cover member (not shown). The number of unit working apparatus 703 constituting the working apparatus 700 is not limited to three as shown in the example, and can be any number as long as it is more than one. The unit operation device 703 includes a main body 704, a support member 705, a rotating member 706, a frame 707, and wheels 731 and 732. The main body 704 includes a control device, a power source, and a wireless communication device in the housing, and can control the rotation of the wheels 731, 732 by communicating with an external computer such as a smartphone. The main bodies 704a to 704c may be connected by a rod-shaped member and configured to move as one unit. The main body 704 may be provided with sensors such as an image sensor, a temperature sensor, a CO2 sensor, a light intensity sensor, and a humidity sensor, and configured to transmit the measured values ​​of the sensors to an external computer via a wireless communication device. A rotating member 706 supported by a pair of support members 705 is disposed above the main body 704. The rotating member 706 is in a positional relationship in which the bottom surface of the rotating member 706 abuts against the elongated member R, and a part of the load of the unit operation device 703 is supported by the elongated member R. The elongated member R does not need to be a single member, and a configuration may be adopted in which multiple rotating members 706 are provided so as to be supported by multiple elongated members R. The rotating member 706 in this embodiment is a pulley, but the rotating member 706 may be configured by the above-mentioned cylindrical rotating body instead. When the rotating member 706 is configured as the above-mentioned cylindrical rotating body 10, the wheels 731, 732 do not need to be in contact with the ground at all times, and the rotating member 706 can move even when suspended by the elongated member R. The aspect in which the rotating member 706 is configured as the cylindrical rotating body 10 is effective when the elongated member R is a rail or rope having a certain width.

[0132] The upper end of an arch-shaped frame 707 is detachably connected to the bottom surface of the main body 704. With the main body 704 detached from the upper end of the frame 707, it is possible to cover the frame 707 with vinyl (not shown) and then attach the main body 704 to the frame 707 covered with vinyl, thereby fixing the top of the vinyl in place. The lower end of the frame 707 is connected to the wheel support parts 711 and 712. The wheel support part 711 has a fastener 713 and a wheel 731, and the wheel support part 712 has a fastener 714 and a wheel 732. The fasteners 713 and 714 are devices for fixing vinyl, and are configured with, for example, female threads that are screwed into male threads provided on the wheel support parts 712 and 713. The wheel support parts 712 and 713 are equipped with a wheel drive device (not shown) for rotating the wheels 731 and 732, but the wheel drive device (not shown) may be configured with the above-mentioned cylindrical rotating body, or the wheels 731 and 732 may be configured with the above-mentioned cylindrical rotating body. The wheels 731 and 732 may be configured with a single-axis or multiple-axis driven caterpillar, a desert tire, a buggy tire, a space probe tire, or a tire with a metal circumferential surface. The unit task device 703 can move on its own by controlling the rotation of the wheels 731, 732 with a control device provided on the main body 704. By making the unit task device 703 move on its own, it is possible to move the agricultural tunnel without changing the distance between the frames 707a to 707c, and it is also possible to adjust the length of the tunnel by changing the distance between the frames 707a to 707c. The main body 704 may be provided with the height adjustment device 64 described in the twelfth embodiment, so that the distance between the elongated member R and the frames 707a to 707c can be adjusted. The elongated member R is not limited to one as illustrated, and two or three or more elongated members R may be used, and the strength may be increased by adding corresponding wheels. In the 26th embodiment, an example of an agricultural tunnel was described, but the technical concept of this embodiment can be applied to greenhouses, buildings, warehouses, pergolas (sunshades), as well as domes for ball games such as tennis, disaster prevention tents, and the like, and the cover material can be replaced with cloth material, etc. As a modification of the twenty-sixth embodiment, a telescopic mechanism (for example, the telescopic cylinder 90 shown in FIG. 27) may be provided at the portion connecting the lower end of the frame 707 and the wheel support portions 711 and 712. By adopting such a configuration, it becomes possible to absorb steps on the ground.

[0133] <Twenty-seventh embodiment> Fig. 54(A) is a side view showing a working device 850 according to the 27th embodiment, (B) is a side view of a working device 870, and (C) is a cross-sectional view taken along line AA in (A). In Fig. 54(A) and (B), cover members 857, 877 are shown transparently, and members on the rear side of cover member 857 are shown by dotted lines. The working device 850 of the 27th embodiment is configured to include a main body 851, cylindrical rotating bodies 852a, 852b having brushes on their surfaces, wheels 853a to 853d, connecting members 854a to 854d, an intermediate member 855, side end members 856a, 856b, a cover member 857, and a suction port 858. The cylindrical rotating bodies 852a and 852b arranged on the bottom surface of the main body 851 have a motor mechanism similar to that of the first embodiment, and bristles (not shown) that function as cleaning brushes are provided on the surface of the exterior body. The number of cylindrical rotating bodies 852a and 852b is not limited to two as illustrated, and may be one or three or more. The main body 851 is equipped with a control device, a power source, and a wireless communication device (not shown), and can individually control the rotation of the cylindrical rotating bodies 852a and 852b. When the cylindrical rotating bodies 852a and 852b rotate, the wheels 853a to 853d also rotate in conjunction with or independently, and the working device 850 travels. The wheels 853a to 853d may be configured as omniwheels. The main body 851 is configured to be bendable by a flexible intermediate member 855, so that it can travel while deforming even if it hits an obstacle. The main body 851 may be provided with a gyro sensor and configured to travel while measuring the rotational angular velocity. The cover member 857, which is transparently illustrated in FIG. 54(A), is provided so as to cover the cylindrical rotating bodies 852a and 852b, the wheels 853a to 853d, and the connecting members 854a to 854d, and is U-shaped in side view as shown in FIG. 54(C). A suction port 858 is provided in the width direction (left and right direction in FIG. 54(A)) at the top of the inner space 857a of the cover member 857, and sucks up the dust picked up by the cylindrical rotating bodies 852a and 852b. The position where the suction port 858 is provided is not limited to the top of the inner space 857a of the cover member 857, and it can be provided at any position in the inner space 857a. An external suction device may be connected to the main body 851, and a suction force may be applied to the suction port 858 from the external suction device. The power to be supplied to the working device 850 can be supplied from a battery provided in the main body 851, or may be directly supplied from a commercial power source or the like via a power cable.

[0134] The working device 870 of the 27th embodiment is configured to include a main body 871, cylindrical rotating bodies 872a-872c with brushes on the surface, wheels 873a-873f, driving parts 874a-874d, intermediate members 875a, 875b, side end members 876a, 876b, a cover member 877, and movable parts 878a, 878b. The configurations of the main body 871, the wheels 873a-873f, and the cover member 877 are the same as the corresponding elements of the working device 850, so a description thereof will be omitted. The intermediate members 875a, 875b are made of a flexible material similar to the intermediate member 855, so they can deform in response to the unevenness of the ground and can run while deforming even if they hit an obstacle. The cylindrical rotating bodies 872a to 872c have a motor mechanism similar to that of the first embodiment, and bristles (not shown) that function as cleaning brushes are provided on the surface of the exterior body. The working device 870 is different from the working device 850 in that it is provided with driving units 879a to 879f equipped with motors for rotating the wheels 873a to 873f independently of the cylindrical rotating bodies 872a to 872c. The control device (not shown) of the main body 871 can individually control the rotation speed of the wheels 873a to 873f by the driving units 879a to 879f, so that the working device 870 can travel in any direction. If a map creation function using AI (artificial intelligence) is incorporated into the control device and the control device is made to learn the geography of the cleaning location, the working device 870 can be made to travel automatically and clean unmanned. The control device may be configured to incorporate a GPS and a wireless communication device, and to travel the working device 870 unmanned outdoors along a predetermined route based on a command received from the outside via the wireless communication device. It is possible to move backward as well as forward, and also to change direction to the left or right by individually controlling the rotation speed of the wheels 873a to 873f. It is also possible to use the cylindrical rotating bodies 872a to 872c as driving wheels without providing the wheels 873a to 873f. Instead of the cleaning brushes provided on the surface of the exterior body of the cylindrical rotating bodies 872a to 872c, blades or claws for mowing, pruning, felling, cultivating or removing snow may be provided on the surface of the exterior body. The number of cylindrical rotating bodies 872a-872c is not limited to three as illustrated, and may be four or more. Although Fig. 54 illustrates a configuration in which cylindrical rotating bodies 872a-872c are arranged in one row, cylindrical rotating bodies 872a-872c may also be arranged in multiple rows, as shown in Fig. 15, for example.

[0135] <Twenty-eighth embodiment> FIG. 55(A) is a side view showing a cleaning unit 901 of a working apparatus 900 according to the 28th embodiment, and (B) is a plan view of the working apparatus 900. FIG. The working device 900 of the twenty-eighth embodiment is configured to include a cleaning unit 901 and a cleaning unit support unit 902, and is a device for automatically cleaning a bathtub. The cleaning unit 910 includes a main body 911, cylindrical rotors 910a and 910b, a base connecting member 914, and a connecting member 920a. The cylindrical rotors 910a and 910b have a motor mechanism similar to that of the first embodiment, and bristles that function as cleaning brushes are provided on the surface of the exterior body. Cylindrical rotating body 910a has a motor mechanism similar to that of the first embodiment, and bristles that function as a cleaning brush are provided on the surface of the exterior body. Cylindrical rotating body 910a extends downward from main body 911 via base connecting member 914, and can be fixed at a different angle to main body 911 at connecting member 920a. This makes it possible to change the angle of cylindrical rotating body 910a to match the inclination even if the inner surface of the bathtub is inclined. The cylindrical rotating body 910b has a motor mechanism similar to that of the first embodiment, and bristles that function as a cleaning brush are provided on the surface of the exterior body. The cylindrical rotating body 910b is connected to the cylindrical rotating body 910a via a connecting member 920a, and extends in a substantially horizontal direction. The cylindrical rotating body 910b can be fixed at a different angle relative to the cylindrical rotating body 910a at the connecting member 920a. This makes it possible to change the angle of the cylindrical rotating body 910b in accordance with the inclination even if the bottom of the bathtub is inclined.

[0136] The main body 911 includes a main body drive unit 916 for moving on the cleaning unit support unit 902, which is a frame body, a control device (not shown), and a power source (not shown). The main body drive unit 916 is composed of wheels and a motor for traveling on the upper surface of the cleaning unit support unit 902. The main body 911 is attached by engaging an engagement unit 917 with a groove (not shown) provided on the side of the cleaning unit support unit 902. The cylindrical rotating bodies 910a and 910b may be configured to be attached in a direction located outside the bathtub so that the outer surface (entry side) and floor surface of the bathtub can be cleaned. The cylindrical rotating bodies 910a and 910b may also be provided with a function of blowing out hot air for drying. The number of cylindrical rotating bodies 910a and 910b and connecting members 920 is not limited to two each as illustrated, and may be any number. The main body 911 is provided with an operation button (not shown), and by operating the operation button, the main body 911 can be moved a predetermined distance along the cleaning unit support part 902 while rotating the cylindrical rotating bodies 910a and 910b. The main body 911 may be provided with a wireless communication device so as to be remotely controlled from a smartphone or the like. FIG. 55(C) is a side view showing a cleaning unit 903 of a working device according to a modification of the 28th embodiment. The cleaning unit 903 differs from the cleaning unit 901 in that it includes cylindrical rotors 910c-910d and connecting members 920b-920c. The cylindrical rotors 910c-910d of the cleaning unit 903 are the same as the cylindrical rotors 910a-910b. According to the cleaning unit 903, it is possible to simultaneously clean multiple sides of a bathtub by using the cylindrical rotor 910c, and also possible to simultaneously clean the cleaning unit support part 902 by using the cylindrical rotor 910d. To accommodate bathtubs of different sizes, a telescopic mechanism (for example, the telescopic cylindrical body 90 shown in FIG. 27) may be provided between the connecting members 920a and / or 920b and the cylindrical rotor 910b. The working device 900 according to the 28th embodiment is for cleaning a bathtub, but it can be modified for cleaning a toilet by changing the size of the cleaning unit 910 and making the shape of the cleaning unit support part 902 the same as the valve seat. In this case, it may be configured so that it can also clean the floor of the toilet.

[0137] <Twenty-ninth embodiment> FIG. 56(A) is a perspective view of a working device 930 according to the twenty-ninth embodiment. The working device 930 according to the twenty-ninth embodiment is a device for cleaning a toilet bowl T, and as shown in FIG. 56, is configured to include cylindrical rotating bodies 931-934, connecting members 941-944, a self-propelled part 950, and telescopic mechanisms 951, 952. The cylindrical rotating bodies 931 to 934 have a similar configuration to the cylindrical rotating body 10 of the first embodiment, but differ in that the cylindrical rotating body 931 has brush bristles planted on the surface of the outer casing, while the cylindrical rotating bodies 932 to 933 have a cleaning cloth attached to the outer periphery of the outer casing. The cylindrical rotating body 931 has brush hairs planted on the surface of the exterior body, and the exterior body can rotate to clean the bowl part T3 of the toilet. The cylindrical rotating bodies 932 to 934 have cleaning cloths installed on the outer periphery of the exterior body, and the exterior body can rotate to clean the valve seat, the outer periphery of the toilet T (bowl part T3), and the floor surface. The cleaning cloths installed on the exterior bodies of the cylindrical rotating bodies 932 to 934 may be disposable nonwoven fabrics, or cloths that can be washed and reused may be used. In addition, instead of the cleaning cloths, brush hairs may be planted on the surface of the exterior body, or a sponge may be provided. In FIG. 56(A), a configuration using four cylindrical rotating bodies is illustrated, but a plurality of cylindrical rotating bodies is sufficient, and the number of cylindrical rotating bodies can be changed to any number. Furthermore, instead of the cylindrical rotating body 931, a robot hand having a plurality of fingers formed of cylindrical rotating bodies connected in series (for example, a robot hand in the sixth embodiment shown in FIG. 10 with brushes on the fingers or palm) may be attached. By using a robot hand, it becomes possible to clean even the smallest grooves in the same way as by hand.

[0138] The rotation speed and direction of each of the cylindrical rotors 931-934 can be individually controlled by a control unit built into the self-propelled unit 950, and it is also possible to operate only specific ones. The cylindrical rotors 931-934 can be fixed in a state where the relative angles are changed by the connecting members 941-944. The telescopic mechanisms 951 and 952 are, for example, the telescopic cylinders shown in Fig. 27, and can adjust the height of the valve seat mounting surface T1, which differs for each product, by telescopic movement. Note that a similar telescopic mechanism may be provided in the cylindrical rotating body 932 or 933. The self-propelled unit 950 includes a control unit that controls the driving of the cylindrical rotating bodies 931-934, the connecting members 941-944, and the extension mechanisms 951, 952, a power source, and wheels (not shown) that self-propel on the floor of the toilet. The control unit may be equipped with artificial intelligence and configured to autonomously return to a charging spot (not shown).

[0139] Fig. 56(B) is a perspective view of a working device 960 according to a modified example of the twenty-ninth embodiment. This working device 960 is a device for cleaning a urinal MT, and as shown in Fig. 56(B), is configured to include cylindrical rotating bodies 961-963, connecting members 971-973, a self-propelled part 980, and telescopic mechanisms 963, 964. Fig. 56(B) shows a standby state when not in use, and the device waits in a self-supporting state. When cleaning the urinal MT, the piston rod 964 is stored in the cylinder 963, so that it is possible to clean the bottom of the urinal MT. The cylindrical rotating body 961 is similar to the cylindrical rotating body 931, and brush bristles are planted on the surface of the exterior body. The cylindrical rotating bodies 962, 963 are similar to the cylindrical rotating bodies 932, 933, and a cleaning cloth is installed on the outer periphery of the exterior body. The telescopic mechanisms 964, 965 are similar to the telescopic mechanisms 951, 952. The self-propelled unit 980 is similar to the self-propelled unit 950. The working device 960 can automatically clean the urinal MT. In Fig. 56(B), a configuration using three cylindrical rotors is illustrated, but a plurality of cylindrical rotors is sufficient and can be changed to any number. Furthermore, instead of the cylindrical rotor 961, a robot hand having a plurality of fingers made of cylindrical rotors connected in series (for example, a robot hand in the sixth embodiment shown in Fig. 10 with brushes on the fingers or palm) may be attached. When a robot hand is used, it becomes possible to clean even small grooves in the same way as by hand.

[0140] Thirty Embodiment FIG. 57(A) is a side view of a working device 1000 according to the 30th embodiment, (B) is a side view showing a first posture of a working device according to a modified example of (A), (C) is a side view showing a second posture, and (D) is a side view showing a third posture. As shown in FIG. 57(A), the working device 1000 according to the 30th embodiment is an aircraft including a riding section 1001, a fixed section 1002, a movable section 1003, cylindrical rotating bodies 1010a-1010b, blade members 1011a and 1012a, and a connecting member 1020a. The boarding section 1001 is a space where people appear, and one or more people can appear. It may be an open type like a hot air balloon, or a closed type that can protect against rain and wind. A passenger is not required, and it can also be used to transport luggage in an unmanned state. The housing of the fixed part 1002 contains a control unit consisting of a computer equipped with an acceleration sensor and GPS, a communication unit, and a power supply, making it possible to remotely control the drive of the cylindrical rotating body 1010 and the connecting member 1020.

[0141] The cylindrical rotors 1010a to 1010d have the same configuration as the cylindrical rotor 10 according to the first embodiment. The cylindrical rotor 1010a has blade members 1011a and 1012a at the tip. The working device 1000 illustrated in FIG. 57 has one propeller composed of the blade members 1011a and 1012a, but may have two propellers as shown in FIGS. 57(B) to (D). In addition, if the number of propellers is three or four or more, it becomes possible to perform operations such as throttle, pitch, roll, and rudder more flexibly. In addition, in FIG. 57, the two propellers are illustrated as having the same size, but they may have different sizes. For example, the blade members 1011a and 1012a may be configured to be larger than the blade members 1011b and 1012b.

[0142] The rotation speed and direction of each cylindrical rotor 1010 can be controlled individually by the control unit, and it is also possible to operate only a specific one. This is particularly effective in a configuration with multiple propellers. For example, in the modified example shown in Fig. 57(B)-(D), the cylindrical rotors 1010a and 1010d can be fixed in a state where the relative angle is changed at the connecting members 1020a and 1020b. For example, as shown in Fig. 57(C), when ascending, the upper propellers (1011a, 1012a) and the lower propellers (1011b, 1012b) are controlled to be arranged in a straight line, and when moving horizontally or diagonally in the air, the upper propellers (1011a, 1012a) and the lower propellers (1011b, 1012b) are controlled to be arranged at right angles, as shown in Fig. 57(A). Here, when moving horizontally in the air, the upper propellers (1011a, 1012a) and the lower propellers (1011b, 1012b) do not necessarily need to be arranged at a right angle, and the angle can be adjusted within a range of, for example, 60 to 120 degrees. The number of cylindrical rotating bodies 1010 connected by the connecting member 1020 is not limited to the illustrated number, and any number of cylindrical rotating bodies 1010 can be connected by the connecting member 1020.

[0143] Moreover, the movable part 1003 is configured to be movable in position relative to the fixed part 1002. For example, when the working device 1000 according to the modified example lands on the ground G, the control unit moves the movable part 1003 to the highest position, so that the lower propellers (1011b, 1012b) can be raised to a position where they do not contact the ground G. On the other hand, when moving horizontally or diagonally in the air, the control unit moves the movable part 1003 downward by a predetermined distance from the highest position, so that the movable part 1003 can move with the center of gravity optimal for horizontal or diagonal movement according to changes in acceleration, wind, and other conditions. The movable part 1003 is detachable from the fixed part 1002, and a combination of the cylindrical rotating body 1010 and the propellers (1011, 1012) in a plurality of different patterns can be selected and attached to the fixed part 1002.

[0144] Thirty-first embodiment FIG. 58(A) is a side view showing a first posture of a working device 1100 according to the thirty-first embodiment, and (B) is a side view showing a second posture. As shown in FIG. 58, the working apparatus 1100 according to the thirty-first embodiment is a manned flying vehicle including a riding section (1101-1105), cylindrical rotating bodies 1110a-1110h, blade members 1111a-1111b and 1112a-1112b, and connecting members 1120a-1120f. The boarding section is composed of a cover 1101, a base 1102, a seat 1103, an operation section 1104, and a cockpit frame 1105. The cover 1101 is provided with an opening and closing door (not shown), and an operator can board inside the cover 1101 through the opening and closing door. The inside of 1101 has a watertight structure, and the working device 1100 can also be used as a submarine. A control unit consisting of a computer with a GPS and a power supply are housed in the base 1102. The base 1102 is configured to be rotatable 360 ​​degrees with respect to the cylindrical rotating bodies 1110g and 1110h, and can be positioned, for example, as shown in Fig. 58(A) with the cockpit frame 1105 positioned upward, or as shown in Fig. 58(B) with the cockpit frame 1105 positioned downward. A seat 1103 and an operation unit 1104 are arranged in the cockpit frame 1105. The seat 1103 and the operation unit 1104 in the cockpit frame 1105 slide along the periphery as the base 1102 rotates, and are configured so that the seat surface of the seat 1103 is always horizontal to the ground. The control unit also includes a communication device (not shown) for receiving signals such as a flight program from an external device, and can thereby control the operation of the working device 1000 by remote control. The control unit may be configured so as to be remotely operable from a smartphone or the like.

[0145] The cylindrical rotating bodies 1110a-1110h have the same configuration as the cylindrical rotating body 10 according to the first embodiment. The cylindrical rotating bodies 1110a and 1110d are provided with blade members 1111a-1111b and 1112a-1112b at their tips. The working device 1100 illustrated in Fig. 58 has two propellers made up of blade members 1111a-1111b and 1112a-1112b. Although a plurality of propellers is sufficient, three or four or more propellers allow for more flexible throttle, pitch, roll, rudder, and other operations.

[0146] The rotation speed and direction of each cylindrical rotor 1110 can be controlled individually by the control unit, and it is also possible to operate only a specific one. The cylindrical rotors 1110a to 1110f can be fixed in a state where the relative angles are changed at the connecting members 1120a to 1120f. For example, when ascending, as shown in FIG. 58(A), the cylindrical rotors 1110a and 1110d are controlled to be arranged along the vertical direction, and when moving horizontally or diagonally in the air, as shown in FIG. 58(B), the cylindrical rotor 1110d is controlled to be arranged at a right angle to the cylindrical rotor 1110e. The base 1102 may be provided with wheels or a dolly on the bottom surface. Also, as shown in FIG. 58(C), a pair of main wings 1106, 1106 may be provided on the side surface of the base 1102. In this case, the pair of main wings 1106, 1106 may be configured to be retractable or removable. An attachment may be provided on the bottom surface of the base 1102 so that it can be attached to vehicles (automobiles, trucks, agricultural vehicles, etc.), heavy construction machinery, work machines, civil engineering machines, agricultural machines (chain saws, etc.), construction machines, containers, baskets, ships, humanoid robots, work robots, etc. The base 1102 may be provided with wheels or a robot hand (for example, the robot hand of the sixth embodiment shown in FIG. 10) having a plurality of fingers formed of cylindrical rotating bodies connected in series.

[0147] Thirty-second embodiment FIG. 59 is a perspective view of a working device 1200 according to the thirty-second embodiment. As shown in FIG. 59, the working apparatus 1200 according to the thirty-second embodiment is a manned flying vehicle including a riding section (1201-1205), cylindrical rotating bodies 1210a-1210g, blade members 1211a-1211d and 1212a-1212d, and connecting members 1220a-1220d. The boarding section is composed of a cover 1201, a base 1202, a seat 1203, an operation section 1204, and a bottom section 1205. The cover 1201 is provided with an opening and closing door (not shown), and an operator can board inside the cover 1201 through the opening and closing door. A control unit consisting of a computer equipped with a GPS and a power source are housed in the base 1202. Four wheels 1206a to 1206d are provided on the bottom surface of the bottom part 1202. The cylindrical rotors 1210a to 1210g have the same configuration as the cylindrical rotor 10 according to the first embodiment. The cylindrical rotors 1210a to 1210d have blade members 1211a to 1211d and 1212a to 1212d at their tips. The cylindrical rotors 1210a to 1210c are arranged on the same line by the cylindrical rotors 1210e and 1210f that function as connecting rod members. The cylindrical rotors 1210b and 1210d are arranged on the same line by the cylindrical rotor 1210g that functions as a connecting rod member. The cylindrical rotor 1210g is arranged perpendicular to the cylindrical rotors 1210e and 1210f, and is arranged in the riding section (1201 to 1205) that is the main body. The cylindrical rotating bodies 1210e to 1210f and 1210g do not necessarily have to be made of cylindrical rotating bodies, and may be made of rod members that do not have a driving force. The rotation speed and direction of each cylindrical rotor 1210 can be controlled individually by a control unit, and it is also possible to perform motions such as pitch and roll by operating only specific ones. The cylindrical rotors 1210a to 1210d can be fixed in a state where the relative angle is changed at the connecting members 1220a to 1220d.

[0148] Thirty-third embodiment FIG. 60 is a perspective view of a working device 1300 according to the thirty-third embodiment. The working apparatus 1300 according to the thirty-third embodiment differs from the working apparatus 1200 according to the thirty-second embodiment in that it has three propellers (1311d to 1311f and 1312d to 1312f) at the rear, but otherwise has a similar configuration as the manned flying vehicle. The cylindrical rotors 1310a to 1310j have the same configuration as the cylindrical rotor 10 according to the first embodiment. The cylindrical rotors 1310a to 1310f have blade members 1311a to 1311f and 1312a to 1312f on their surfaces. The cylindrical rotors 1310a to 1310c are arranged on the same straight line by the cylindrical rotors 1310g and 1310h that function as connecting rod members. The cylindrical rotors 1310d to 1310f are arranged on the same straight line by the cylindrical rotors 1310i and 1310j that function as connecting rod members. The cylindrical rotors 1310d to 1310f are arranged on the same straight line by the cylindrical rotors 1310i and 1310j that function as connecting rod members. Cylindrical rotating bodies 1310b and 1310e are arranged on the same straight line by cylindrical rotating body 1310k that functions as a connecting rod member. Cylindrical rotating body 1310k is arranged perpendicular to cylindrical rotating bodies 1310g and 1310h, and is arranged in riding section 1301, which is the main body. Cylindrical rotating bodies 1310g to 1310k do not necessarily have to be formed of cylindrical rotating bodies, and may be formed of rod members that do not have driving force. The rotation speed and direction of each cylindrical rotor 1310 can be controlled individually by a control unit, and it is also possible to perform motions such as pitch and roll by operating only a specific one. The cylindrical rotors 1310a-1310f can be fixed in a state where the relative angle is changed at the connecting members 1320a-1320f. The working device 1300 according to the 33rd embodiment has three propellers (1311d-1311f and 1312d-1312f) at the rear, so that it is possible to perform throttle, pitch, roll, rudder, and other motions more flexibly than the 32nd embodiment.

[0149] Thirty-fourth embodiment FIG. 61(A) is a plan view of a working device 1400 according to the thirty-fourth embodiment. As shown in FIG. 61(A), a working apparatus 1400 according to the thirty-fourth embodiment is a manned flying vehicle including a riding section (1401-1406), cylindrical rotating bodies 1410a-1410d, and blade members 1411a-1411d and 1412a-1412d. The boarding section is composed of a cover 1401, a cockpit base 1402, a seat 1403, an operation section 1404, a floor section 1405, and an inner frame 1406. The cover 1401 is provided with an opening and closing door (not shown), and a pilot can board inside the cover 1401 through the opening and closing door. The cockpit base 1402 houses the control unit, which consists of a computer equipped with GPS, and the power supply. A rotating device is incorporated on the back side of the disk-shaped floor portion 1405, and the floor portion 1405 can be rotated 360 degrees relative to the inner frame 1406. The inner frame 1406 is installed on the outer frames 1407a and 1407b, the front frame 1408, and the rear frame 1409. The rotation speed and direction of each cylindrical rotor 1410 can be individually controlled by a control unit, and it is also possible to perform movements such as pitch and roll by operating only specific ones. The cylindrical rotating bodies 1410a-1410g have the same configuration as the cylindrical rotating body 10 according to the first embodiment, and have blade members 1411a-1411d and 1412a-1412d provided at their upper ends. The cylindrical rotating bodies 1410a-1410g are provided at both ends of the outer frames 1407a and 1407b, respectively, and are arranged in a rectangular parallelepiped shape when viewed from above. 61(B) is a side view of a modified working device 1400, which is equipped with a pair of main wings 1430a, 1430b. A jet engine may be provided on the pair of main wings 1408a, 1408b, and the outer frames 1407a, 1407b may be configured to be storable or removable. The outer frames 1407a, 1407b, the front frame 1408, and the rear frame 1409 may be configured with a cylindrical rotating body 1410.

[0150] Thirty-fifth embodiment FIG. 62(A) is a plan view of a working device 1500 according to the thirty-fourth embodiment, and (B) is a side view. As shown in FIG. 62, the working device 1500 according to the thirty-fifth embodiment is a manned flying vehicle including a riding section (1501-1505), cylindrical rotating bodies 1510a-1510i, blade members 1511a-1511d and 1512a-1512d, and connecting members 1520a-1520f. The boarding section is composed of a cover 1501, a cockpit base 1502, a seat 1503, an operation section 1504, a floor section 1505, and an inner frame 1506. The cover 1501 is provided with an opening and closing door (not shown), and an operator can board inside the cover 1501 through the opening and closing door. The inside of 1501 has a watertight structure, and the working device 1500 can also be used as a submarine. The base 1502 houses a control unit consisting of a computer equipped with a GPS and a power source. A rotating device is built into the back side of the disk-shaped floor 1505, and the floor 1505 can be rotated 360 degrees relative to the inner frame 1506. The inner frame 1506 is installed on the outer frame 1507. A robot hand having a plurality of fingers formed of wheels or cylindrical rotating bodies connected in series for work (for example, the robot hand of the sixth embodiment shown in FIG. 10) may be provided on the lower part of the outer frame 1507. An attachment may be provided on the lower part of the outer frame 1507 so that it can be attached to vehicles (automobiles, trucks, agricultural vehicles, etc.), heavy construction equipment, work machines, civil engineering machines, agricultural machines (chain saws, etc.), construction machines, containers, baskets, ships, humanoid robots, work robots, etc. A robot hand having a plurality of fingers formed of wheels or cylindrical rotating bodies connected in series (for example, the robot hand of the sixth embodiment shown in FIG. 10) may be provided on the lower part of the outer frame 1507.

[0151] The cylindrical rotors 1510a to 1510i have the same configuration as the cylindrical rotor 10 according to the first embodiment. The cylindrical rotors 1510a to 1510d have blade members 1511a to 1511d and 1512a to 1512d at their upper ends. The cylindrical rotors 1510a to 1510g are provided at each end of the cross-shaped outer frame 1507. The cylindrical rotors 1510a to 1510f can be fixed at different relative angles at the connecting members 1520a to 1520f. Therefore, for example, when ascending, the cylindrical rotors 1510a to 1510f can be positioned vertically as shown in FIG. 62(B), and when moving horizontally or diagonally, a part of the cylindrical rotor 1510 can be positioned horizontally or diagonally as shown in FIG. 62(A).

[0152] Thirty-sixth embodiment FIG. 63(A) is a side view of a working device 1600 according to the thirty-sixth embodiment, and (B) is a side view of a modified example of (A). As shown in FIG. 63(A), the working device 1600 according to the 36th embodiment is an unmanned aerial vehicle including a storage section 1601, an opening / closing door 1602, wheels 1603a-1603d, a frame 1604, cylindrical rotating bodies 1610a-1610b, blade members 1611a-1611b and 1612a-1612b, and connecting members 1620a-1620b. The storage section 1601 is a space for storing luggage to be transported. The luggage can be stored in the storage section 1601 by opening and closing the door 1602. A control section, which is made up of a computer equipped with a GPS, a communication section, and a power source are stored in the bottom of the storage section 1601. The wheels 1603a to 1603d are configured to be self-propelled by a drive source (not shown). The cylindrical rotors 1610a to 1610c have the same configuration as the cylindrical rotor 10 according to the first embodiment. The cylindrical rotors 1610a to 1610b have blade members 1611a to 1611b and 1612a to 1612b at their tips, and are connected to the connecting members 1620a to 1620b at their bases. The cylindrical rotors 1610a to 1610b can be fixed at the connecting members 1620a to 1620b with their relative angles changed. For example, when ascending, the cylindrical rotors 1610a to 1610b can be positioned vertically, and when moving horizontally or diagonally, the cylindrical rotor 1610b can be positioned horizontally or diagonally as shown in FIG. 63(A). Linking members 1620a to 1620b are movably connected to a frame 1604 provided at the upper end of the storage section 1601. The frame 1604 may be configured to be movable relative to the storage section 1601.

[0153] In the modified example shown in FIG. 63(B), the frame 1604 is provided on the side of the storage unit 1601. In FIG. 63(B), the members with the same numbers as those in FIG. 63(A) have the same configuration, and therefore the description will be omitted. In the modified example shown in FIG. 63(B), for example, the cylindrical rotating bodies 1610a-1610b are positioned vertically when ascending, and the cylindrical rotating body 1610b can be positioned horizontally or diagonally when moving horizontally or diagonally, as in FIG. 63(B). The storage unit 1601 may be configured so that a person can board it, forming a vehicle that can also be a manned flying object. The working device 1600 can also be used as an agricultural work machine (agricultural work vehicle), a construction work machine (construction work vehicle), and a transport work machine (transport work vehicle).

[0154] Thirty-seventh embodiment FIG. 64(A) is a perspective view of a working device 1700 according to the thirty-seventh embodiment. As shown in FIG. 64(A), the working device 1700 according to the 37th embodiment is an aircraft including a main body 1701, cylindrical rotating bodies 1710a-1710o, blade members 1711a-1711e and 1712a-1712e, connecting members 1720a-1720j, and base connecting members 1730a-1730e. The main body 1701 includes a loading section 1702 on which luggage is loaded, rails 1703 on which base connecting members 1730a-1730e are attached, annular groove section 1704 in which a moving device (not shown) for moving the base connecting members 1730a-1730e along the rails 1703 is embedded, and a detection mechanism (not shown). The housing of main body 1701 contains a control unit consisting of a computer equipped with a GPS, a communication unit, and a power source, and it is possible to remotely control the drive of cylindrical rotating body 1710, connecting member 1720, and base connecting member 1730. The detection mechanism (not shown) is similar to detection mechanism 830 according to the twenty-fourth embodiment.

[0155] The cylindrical rotating bodies 1710a to 1710o have the same configuration as the cylindrical rotating body 10 according to the first embodiment. The cylindrical rotating bodies 1710a to 1710e are provided with blade members 1711a to 1711e and 1712a to 1712e at their tips. The rotation speed and direction of each cylindrical rotor 1710 can be individually controlled by a control unit, and it is also possible to operate only specific ones. The cylindrical rotors 1710a-1710o can be fixed in a state where the relative angles are changed at the connecting members 1720a-1720j and the base connecting members 1730a-1730e. As shown in the modified example of Fig. 64(B), a pair of main wings 1741, 1742 may be provided, and in this case, the wings may be configured to be stowable or removable. Note that a configuration in which the main wings 1741, 1742 are provided with jet engines or propellers may also be adopted.

[0156] In the working device 1700 according to 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 used as if it were a robot hand with five fingers, and can grasp a load loaded on the loading section 1702 by bending the cylindrical rotating bodies 1710f-1710o at the connecting members 1720f-1720j and / or the base connecting members 1730a-1730e. Even in this case, the working device 1700 can fly by adjusting the angle of the cylindrical rotating bodies 1710a-1710e with the blade members attached at the connecting members 1720a-1720e. Although a configuration with five fingers is illustrated in FIG. 64, the number of fingers can be changed as long as it is plural. Furthermore, by moving the base connecting members 1730a to 1730e along the rail 1703, the relative positions of the first to fifth fingers can be adjusted, making it possible to appropriately secure the luggage depending on its size and shape. In this embodiment, the loading unit 1702 is exemplified as a configuration in which luggage is loaded, but the loading unit 1702 may be configured as a solar panel surface. In this case, it is preferable to provide a loading space for loading luggage below the main body 1701. A basket for carrying luggage may be provided below the main body 1701. An attachment may be provided on the bottom surface of the main body 1701 so that it can be attached to vehicles (automobiles, trucks, agricultural vehicles, etc.), heavy construction machinery, work machines, civil engineering machines, agricultural machines (chain saws, etc.), construction machines, containers, baskets, ships, humanoid robots, work robots, etc. A robot hand (for example, the robot hand of the sixth embodiment shown in FIG. 10) having a plurality of fingers formed of wheels or cylindrical rotating bodies connected in series may be provided below the main body 1701.

[0157] Thirty-eighth embodiment FIG. 65 is a perspective view of a working device 1800 according to the thirty-eighth embodiment. As shown in FIG. 65(A), the working device 1800 according to the thirty-eighth embodiment is an aircraft including a main body (1801, 1802), cylindrical rotating bodies 1810a-1810o, blade members 1811a-1811e and 1812a-1812e, connecting members 1820a-1820j, and base connecting members 1830a-1830e. The main body is composed of an upper main body 1801 and a lower main body 1802, and can be bent at a bending portion 1803 to form a valley in the main body. A slide mechanism (not shown) to which base portion connecting members 1830a to 1830d are slidably attached is provided on the side of the upper main body 1801. The lower main body 1802 is equipped with a slide mechanism 1804 to which base portion connecting member 1830e is slidably attached. The shaded portions in the upper main body 1801 and the lower main body 180 are recesses. The housing of the main body (1801, 1802) contains a control unit consisting of a computer equipped with a GPS, a communication unit, and a power source, and it is possible to remotely control the drive of the cylindrical rotating body 1810, the connecting member 1820, and the base connecting member 1830. The main body (1801, 1802) also includes a detection mechanism (not shown) similar to the detection mechanism 830 according to the 24th embodiment. The working device 1800 according to the 38th embodiment can be used not only as an aircraft but also as a robot hand. Here, FIG. 65 shows a configuration with five fingers, but the number of fingers can be changed as long as there are multiple fingers. The main body (1801, 1802) may be configured to have a pair of main wings, and in this case, the wings may be configured to be retractable or removable. A basket for carrying luggage may be provided below the main body 1701. An attachment may be provided on the bottom surface of the main body 1801, and the main body 1801 may be configured to be attachable to vehicles (automobiles, trucks, agricultural vehicles, etc.), heavy construction equipment, work machines, civil engineering machines, agricultural machines (chainsaws, etc.), construction machines, containers, baskets, ships, humanoid robots, work robots, etc. A robot hand (for example, the robot hand of the sixth embodiment shown in FIG. 10) having multiple fingers formed of wheels or cylindrical rotating bodies connected in series may be provided on the main body 1801.

[0158] Thirty-ninth embodiment FIG. 66(A) is a side view illustrating a first posture of a working device 1900 according to the thirty-ninth embodiment, and (B) is a side view illustrating a second posture. A working device 1900 according to the thirty-ninth embodiment is, as shown in Fig. 66(A), equipped with a lift generating mechanism and configured as an automobile 1902 capable of flying. The lift generating mechanism of the working device 1900 is configured to include a base 1901, cylindrical rotating bodies 1910a-1910d, blade members 1911a-1911b and 1912a-1912b, and connecting members 1920a-1920d. The working device 1900 is equipped with a control unit (not shown) that controls the driving of the cylindrical rotating bodies 1910 and the connecting members 1920. Each cylindrical rotating body 1910 can be bent in any direction at each connecting member 1920, and can assume different postures when traveling and when flying. For example, when traveling, as shown in Fig. 66(B), the propellers (1911a-1911b, 1912a-1912b) can be bent inward so as not to interfere with traveling. FIG. 66(C) is a side view of a working device 1900' according to a modified example of the thirty-ninth embodiment. The working device 1900' according to the modified example differs from the working device 1900 according to the thirty-ninth embodiment in that it includes cylindrical rotating bodies 1910e-1910f and connecting members 1920e-1920f. The working device 1900' according to the modified example can also take different postures when traveling and when flying. When traveling, as shown in FIG. 66(C), the propellers (1911a-1911b, 1912a-1912b) can be folded toward the car so as not to interfere with traveling. A pair of main wings may be provided on the side of the base 1901, and in this case, the pair of main wings may be configured to be retractable or removable.

[0159] <Fortieth embodiment> Figure 68 is a side view of a working device 890 according to the fortieth embodiment. The working device 870 according to the fortieth embodiment is a modified version of the working device 870 shown in Figure 54(B), and differs mainly in that it includes extension mechanisms 90a to 90c. The vertical extension mechanism 90a is a mechanism for adjusting the vertical height, and is, for example, the hydraulic telescopic cylinder 90 shown in Fig. 27, or a suspension, an air spring, an elastic body, an actuator, or a motor. In Fig. 68, four vertical extension mechanisms 90a are provided, but any number of vertical extension mechanisms 90a is sufficient, and the number may be three, five, or more. The main body width direction expanding and contracting mechanism 90b is a mechanism for adjusting the width of the main body 871, and is, for example, the expanding and contracting cylinder 90 shown in FIG. The wheel width direction telescopic mechanism 90c is a mechanism for adjusting the distance in the width direction of the side end members 876, 876b, and is, for example, the telescopic cylinder 90 shown in FIG. According to the working device 890 according to the fortieth embodiment, since the working device 890 is provided with the extension mechanisms 90b to 90c, it becomes possible to attach cylindrical rotating bodies 872 of different lengths, and it is also possible to reduce or increase the number of cylindrical rotating bodies 872. Furthermore, since the working device 890 is provided with the extension mechanism 90a, it becomes possible to attach cylindrical rotating bodies having exterior bodies of different shapes. The intermediate members 875a and 875b are made of the same flexible material as the intermediate member 855, and therefore can deform in accordance with the unevenness of the ground, and can continue to move while deforming even if they hit an obstacle.

[0160] <Forty-first embodiment> 69 is a plan view of a working device 2000 according to the 41st embodiment. The working device 2000 according to the 41st embodiment is a mouthpiece-type working device including a main body 2001, a back-side cleaning rotating mechanism 2010 for brushing the back side of the teeth, and a front-side cleaning rotating mechanism 2020 for brushing the front side of the teeth. A handle may be provided near the bottom surface (pressing member 2022c) of the U-shape of the main body 2001, which may make it easier for a third party to attach and detach the device to and from the person being assisted. The rotation mechanism 2010 for back side cleaning includes cylindrical rotating bodies 2011a to 2011j, pressing members 2012a to 2012e, connecting members 2013a to 2013i, and end connecting members 2014a and 2014b. The cylindrical rotating bodies 2011a to 2011j are similar to the cylindrical rotating body 210 according to the 16th embodiment shown in FIG. 35, and have a large number of bristles (not shown) planted on the surface, and brushing can be performed by rotating the cylindrical rotating bodies 2011a to 2011j. The cylindrical rotating bodies 2011a to 2011j are connected by flexible connecting members 2013a to 2013i. The connecting members 2013b, 2013c, 2013e, 2013g, and 2013h are pressed by the pressing members 2012a to 2012e. The main body 2001 is provided with a power button (not shown), and when the power button is pressed, the pressing members 2012a to 2012e protrude and the cylindrical rotating bodies 2011a to 2011j are pressed against the back side of the teeth, and the cylindrical rotating bodies 2011a to 2011j rotate. The driving device for protruding the pressing members 2012a to 2012e is composed of, for example, a ball screw and a motor. The end connection members 2014a and 2014b are flexible, and supply power from a power source (not shown) included in the main body 2001 to the cylindrical rotating bodies 2011a to 2011j.

[0161] The front side cleaning rotation mechanism 2020 includes cylindrical rotating bodies 2021a to 2021h, pressing members 2022a to 2022e, connecting members 2023a to 2023m, and end connecting members 2024a and 2024b. The cylindrical rotating bodies 2021a to 2021h are similar to the cylindrical rotating body 2011, and have a large number of bristles (not shown) planted on the surface, and brushing can be performed by rotating the cylindrical rotating bodies 2021a to 2021h. The cylindrical rotating bodies 21a to 2021h are connected by flexible connecting members 2023a to 2023m. The connecting members 2023c, 2023e, 2023g, 2023i, and 2023k are pressed by the pressing members 2022a to 2022e. When the power button (not shown) of the main body 2001 is pressed, the pressing members 2022a to 2022e protrude and the cylindrical rotating bodies 2021a to 2021h are pressed against the front sides of the teeth, causing the cylindrical rotating bodies 2021a to 2021h to rotate. The working device 2000 is used by attaching the upper or lower teeth to the groove 2030 like a mouthpiece. The numbers of the cylindrical rotors 2011, the pressing members 2012, the cylindrical rotors 2021 and the pressing members 2022 shown in Fig. 69 are merely examples, and may be increased or decreased (as a minimum configuration, the backside cleaning rotation mechanism 2010 and the frontside cleaning rotation mechanism 2020 can each be configured with three cylindrical rotors 2011).

[0162] <Forty-second embodiment> 70 is a side view of a working apparatus 2100 according to the 42nd embodiment. The working apparatus 2100 according to the 42nd embodiment is a manned flying vehicle equipped with a propeller mechanism arranged in a well shape. The cylindrical rotating bodies 2110a-2110h have the same configuration as the cylindrical rotating body 10 according to the first embodiment. The cylindrical rotating bodies 2110a-2110h have blade members 2111a-2111h and 2112a-2112h provided on their surfaces. The cylindrical rotating bodies 2110a-2210b are arranged on the same straight line by connecting rod members 2113a and 2215a, 2115b, and the cylindrical rotating bodies 2110c-2110d are arranged on the same straight line by connecting rod members 2113b and 2215c, 2115d. The cylindrical rotating bodies 2110e and 2110g are arranged on the same straight line by a connecting rod member 2114a, and the cylindrical rotating bodies 2110f and 2110h are arranged on the same straight line by a connecting rod member 2114b. A main wing 2116a is provided on the connecting rod member 2114a, and a main wing 2116b is provided on the connecting rod member 2114b. A jet engine may be provided on the pair of main wings 2116a, 2116b, and may be configured to be retractable into the connecting rod members 2114a, 2114b, or may be configured to be removable. A platform constituting a loading section may be attached to the connecting rod members 2113a, 2113b, 2114a, and 2114b, and a boarding section for people to ride on may be provided. The rotation speed and direction of each cylindrical rotor 2110 can be controlled individually by a control unit (not shown), and it is also possible to perform motions such as pitch and roll by operating only specific ones. The cylindrical rotors 2110a-2110h can be fixed in a state where the relative angles are changed at the connecting members 2120a-2120h. For example, the blade members 2111a-2111h and 2112a-2112h of all the cylindrical rotors 2110a-2110h can be fixed facing upward, or they can be fixed facing horizontally.

[0163] <Forty-third embodiment> Fig. 71(A) is a perspective view of a working apparatus 2200 according to the 41st embodiment. The working apparatus 2200 according to the 43rd embodiment is a modified example of the working apparatus 703 according to the 26th embodiment shown in Fig. 53, and the same components as those of the working apparatus 703 are designated by the same reference numerals and will not be described. The working device 2200 of the 43rd embodiment can move along three elongated members R1 to R3, and an agricultural tunnel is formed by attaching a vinyl cover member (not shown). The number of unit working devices 703 connected to the frame 707 is not limited to three as shown in the example, and can be any number as long as it is more than one. The main bodies 704a to 704c of the unit working devices 703a to 703c may be connected by a rod-shaped member. The unit task devices 703a-703c are provided with telescopic mechanisms 2201a-2201c on the wheel supports 711a-711c, and with telescopic mechanisms 2202a-2202c on the wheel supports 712a-712c. Even if the ground is uneven, the telescopic mechanisms 2201a-2201c and 2202a-2202c absorb the unevenness, allowing for stable travel.

[0164] <Forty-fourth embodiment> Fig. 72(A) is a side view of a working device 2300 according to the 44th embodiment, and (B) is a bottom view. The working device 2300 according to the 44th embodiment is a modified example of the working device 903 according to the 28th embodiment shown in Fig. 55, and the same components as those of the working device 903 are designated by the same reference numerals and description thereof will be omitted. The cylindrical rotating bodies 910a to 910f have a motor mechanism similar to that of the cylindrical rotating body 10, and bristles that function as cleaning brushes are provided on the surface of the exterior body. The connecting members 920a to 920d can fix the connected cylindrical rotating bodies 910 at different angles to each other. 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 source (not shown). The island portion 2032, which is a child 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 is formed, for example, by a telescopic cylinder shown in FIG. 27. The telescopic mechanism 2305 can adjust the distance between the base portion connecting members 914a and 914b, so that the bathtub can be attached to a bathtub with a different thickness of the side wall. A telescopic mechanism similar to the telescopic mechanism 2305 may be provided between the wheel 2304a and the base portion connecting member 914a.

[0165] The wheels 2304a and 2304b are wheels for running on the upper surface of the side wall of the bathtub, and are driven by a motor (not shown). Like the cylindrical rotating body 910, the cylindrical rotating body 2303 is equipped with a motor mechanism and a cleaning brush provided on the surface of the exterior body, and can clean the upper surface of the side wall of the bathtub. The cylindrical rotating bodies 910a and 910c are for cleaning the inner surface of the side wall of the bathtub, the cylindrical rotating body 910d is for cleaning the upper surface of the side wall of the bathtub, the cylindrical rotating body 910e is for cleaning the outer surface of the side wall of the bathtub, and the cylindrical rotating body 910f is for cleaning the floor surface of the washing area. The tip side of the cylindrical rotating body 910f may be configured so that a self-propelled vacuum cleaner can be joined. The base connecting members 914a and 914b may be provided with an extension mechanism (for example, the extension cylinder 90 shown in FIG. 27) for adjusting the height in the vertical direction.

[0166] Although the preferred embodiment of the present invention has been described above, the technical scope of the present invention is not limited to the description of the above embodiment. Various modifications and improvements can be made to the above embodiment, and such modifications and improvements are also included in the technical scope of the present invention.

[0167] In any of the above-mentioned embodiments, a secondary battery can be used as the power source, and in this case, it can be configured to be charged by radio waves using a known method. It can also be configured to receive power from a solar power generation device, or from a battery equipped in a machine connected by an attachment such as a car. It can also be configured to be directly connected to a commercial power source or a generator to supply power. For example, even in the embodiment of an aircraft, when it is used as a radio station in the event of a disaster, it can be flown while being charged via a power cable.

[0168] In the control unit of any of the above-mentioned embodiments, a route generation function and a map update function using artificial intelligence can be applied. The route generation function uses an environmental map stored in the storage device of the control unit to generate a route for autonomous driving in the processing device of the control unit without communicating with an external server. The map update function grasps the position and shape information of surrounding objects based on signals from a distance sensor (e.g., an ultrasonic sensor), and updates the surrounding map in the surroundings of the control unit in real time while driving. Of the devices of the above-mentioned embodiments, all devices that do not have a wireless communication device can be modified to be remotely operable by providing a wireless communication device. In addition, the control unit of any of the above-mentioned embodiments can be configured to be remotely operable from a smartphone or the like via wireless communication.

[0169] In addition, by attaching an accessory (attachment) other than the connecting member 20 to 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, a rope that can be wound up by the rotation of the cylindrical rotating body 10 can be attached to the cylindrical rotating body 10. This allows the cylindrical rotating body 10 to be used as a winch. In addition, by attaching a suction port and a suction mechanism to the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a vacuum cleaner that sucks up dirt and the like. Furthermore, by attaching a brush to the exterior body 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a vacuum cleaner that blows out compressed air to sweep up or suck up dirt and the like. Examples of devices that use the cylindrical rotating body 10 as such a vacuum cleaner include a device for sweeping up dust and the like from the surface of a solar panel by moving the cylindrical rotating body 10 with a brush attached to it back and forth over the surface of the solar panel, and a device for removing snow from a roof. In this case, by inputting a program so that the cylindrical rotating body 10 moves back and forth over the surface of the solar panel at regular intervals, it can be used as a cleaning robot that moves back and forth over the surface of the solar panel at regular intervals to clean it. Also, by configuring the cylindrical rotating body 10 to be elongated, it can be effectively used to clean gaps in furniture. In addition, by attaching blades 19 to some of the cylindrical rotating bodies 10, it is possible to simultaneously remove lint and dust from carpets and clothes. In addition, a mechanism for ejecting air or discharging water may be attached to the cylindrical rotating body 10. Furthermore, it is also possible to configure the cylindrical rotating body 10 to have a water suction (drainage) mechanism or a snow removal mechanism attached to it. Also, by attaching blades 19 to the exterior body 13 of the cylindrical rotating body 10, it can be used as an auger (snow removal mechanism) for a rotary snow remover.

[0170] In addition, by attaching an accessory for gripping a rope or rail to the cylindrical rotating body 10 to which the blade 19 is attached, the cylindrical rotating body 10 can be used as a rooftop snow removal device that moves along the rope or rail. Furthermore, by increasing the size and weight of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a road roller. FIG. 33 is a bottom view showing a configuration example when the cylindrical rotating body 10 is used as a road roller 74. The illustrated road roller 74 includes a first row consisting of three cylindrical rotating bodies 10i, a second row roller group consisting of two cylindrical rotating bodies 10i, and a roller connection frame 75 that connects the first row roller group and the second row roller group. The second row roller group is arranged in a staggered manner so that the cylindrical rotating bodies 10i are positioned at positions overlapping with the connection members 20i of the first row roller group. The number of cylindrical rotating bodies 10i that constitute the first row roller group and the second row roller group is not limited to the illustrated one, and the number of roller groups may be three or more.

[0171] Also, by attaching a sponge to the exterior body 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a painting device. Also, by attaching crushing protrusions to the exterior body 13 of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a roller for a crusher. Furthermore, by attaching an excavation or agricultural tool to one end of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as an excavator, cultivator, or agricultural tool that performs excavation, cultivation, weeding, etc. by rotating the cylindrical rotating body 10.

[0172] Depending on the accessories attached to the tip of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used for trimming, brushing, massaging, skin care, scalp care, hair washing, etc. of animals. In addition, the cylindrical rotating body 10 can be used as an electric tool by attaching tools such as a screwdriver, a driver, a rammer, a wrench, a spanner, a trimmer, a chain saw, a cutter, a drill, an electric saw, a rebar hacker, and a brush to the cylindrical rotating body 10. Furthermore, cooking utensils can be attached to the exterior body 13 of the cylindrical rotating body 10 for use. For example, the cylindrical rotating body 10 can be used as a mixer by attaching a stirring blade to the cylindrical rotating body 10, and can be used as a mixer by attaching a blade to the exterior body 13 of the cylindrical rotating body 10. These configurations can be made using known techniques (the same applies below). The above-mentioned accessories also have a connecting part that can be connected to the second connecting part 15 of the cylindrical rotating body 10, just like the connecting member 20 (the same applies below).

[0173] In addition, in the above-mentioned first embodiment, the cylindrical rotating body 10 is used as a wheel of a dolly, but the present invention is not limited to this configuration. For example, the cylindrical rotating body 10 can be used as a wheel of a moving body that transports people or objects. For example, a mobile stretcher or stretcher can be configured by attaching the cylindrical rotating body 10 to the grounding part of a stretcher or stretcher. Also, a mobile nursing bed can be configured by attaching the cylindrical rotating body 10 to the grounding part of a nursing bed. Furthermore, by attaching the cylindrical rotating body 10 to the upper surface of the nursing bed, it can be made into a nursing bed that has a function of massaging a patient who cannot turn over in bed. Furthermore, by attaching brushes to a plurality of cylindrical rotating bodies 10 and assembling them, it can be used as an assembled car wash machine, a bath cleaner, or a toilet cleaner.

[0174] In the seventh embodiment described above, as shown in FIG. 11, the working device 4 is illustrated as having a plurality of cylindrical rotating bodies 10 connected in the width direction by the long connecting members 25a and 25b. In addition to this configuration, a configuration in which an endless track (or a chain may be used) is attached to the rotating body assembly 1c may be used. This allows the rotating body assembly 1b to rotate relatively easily even on uneven roads, and the rotating body assembly 1b may be used as a disaster robot. In the fifth embodiment described above, a plurality of cylindrical rotating bodies 10 are connected in the length direction, and the rotating body assembly 1b may be used as a snake-type disaster robot. For example, such a snake-type disaster robot can be freely moved by controlling the entire body to twist with the connecting members 22 and controlling the rotation of the cylindrical rotating body 10, and can also be used to inspect the inside of a pipe by attaching a camera or a sensor to the cylindrical rotating body 10.

[0175] In addition, in the eighth and ninth embodiments described above, the cylindrical rotating body 10 or the rotating body assembly 1 is used as an agricultural tool or a component thereof. For example, by attaching a mechanism for disinfecting or spraying pesticides to the cylindrical rotating body 10, the cylindrical rotating body 10 or the rotating body assembly 1 can be used for disinfecting or spraying pesticides. In this case, the operation of the cylindrical rotating body 10 (the timing of spraying pesticides) can be controlled so that the pesticides are sprayed in only one direction, thereby preventing the pesticides from being sprayed to unintended locations. Also, a mechanism for generating air can be attached to the cylindrical rotating body 10, thereby spraying the pesticides in a specific direction. Also, the cylindrical rotating body 10 or the rotating body assembly 1 can be attached to the finger parts of gloves that can be worn by a person. This allows a worker to grab grass and rotate the cylindrical rotating body 10 to pluck the grass from the ground, or to grab fruits or vegetables and rotate the cylindrical rotating body 10 to pick the fruits or vegetables. Furthermore, in the field of forestry, the rotating body assembly 1 can be attached to the trunk of a tree in a ring shape, and the blade 19 can be attached to the cylindrical rotating body 10, which can then rotate (rise and fall) along the tree to cut off branches from the tree (pruning) or peel off the bark of the tree, thereby processing the tree into lumber. In addition, the rotating body assembly 1, which is made up of the cylindrical rotating body 10 to which the blade 19 is attached, can be connected in the length direction to form a snake shape, and the rotating body assembly 1 can be operated to crawl up the tree to perform pruning. In addition, by attaching a camera and a speaker or a light source to the cylindrical rotating body 10, it can be used as a security device or to repel harmful animals. Note that wood processing and pruning can also be performed by a robot hand to which the above-mentioned cylindrical rotating body 10 is attached.

[0176] Furthermore, in addition to the above-mentioned embodiment, the cylindrical rotating body 10 or the rotating body assembly 1 may be attached to the sole of a shoe that can be worn by a person. This allows a person to move around without walking. When the rotating body assembly 1 is attached to the sole of a shoe, it is preferable to control the braking of each cylindrical rotating body 10 by a control device so that the person does not fall.

[0177] In addition to the above-mentioned embodiment, the cylindrical rotating body 10 or the rotating body assembly 1 may be attached to a moving body such as a Segway or a drone to configure a working device. For example, the cylindrical rotating body 10 or the rotating body assembly 1 can be used instead of the wheels of a Segway or in addition to a Segway vehicle. When the cylindrical rotating body 10 is attached to a drone, agricultural support can be performed from the air even in an environment with poor footing by attaching a weeding function, a harvesting function, a watering function, etc. to the cylindrical rotating body 10. The cylindrical rotating body 10 or the rotating body assembly 1 can also be used instead of vehicles such as weeders, agricultural machines, agricultural machinery, vacuum cleaners, and industrial robots.

[0178] Furthermore, the cylindrical rotating body 10 or the rotating body assembly 1 can be used as a medical tool. For example, the cylindrical rotating body 10 can be made small and a blade of a medical scalpel (including an electric scalpel) can be attached to the cylindrical rotating body 10, so that it can be used as a medical scalpel. Also, by making it possible to irradiate laser light from a part of the cylindrical rotating body 10, the cylindrical rotating body 10 can be used as a laser scalpel. In this case, by rotating the cylindrical rotating body 10, the laser light can be irradiated at any position in 360°. Also, by attaching the cylindrical rotating body 10 to the tip of a rod-shaped seat and rotating it, it can be used for applying medicine to the back, for example. In addition, the cylindrical rotating body 10 or the rotating body assembly 1 can be used as a beauty tool. For example, by attaching a blade 19 to the cylindrical rotating body 10, it can be used as a shaver. Also, as shown in FIG. 11, by attaching blades corresponding to beards, sideburns, etc. to multiple cylindrical rotating bodies 10, beards and sideburns can be shaved at the same time. Furthermore, by configuring a rotor assembly using a plurality of cylindrical rotors 10 so as to cover the entire face from the nose, it is possible to provide a shaver that can shave the entire face at once. In this way, for example, a caregiver can easily shave the beard of a person requiring care. In addition, it is not limited to shaving, but can also be used for cutting hair and removing hangnails. In addition, by configuring the cylindrical rotor 10 to have no blade, it can be used for face and body massage. Furthermore, the cylindrical rotor 10 can be used for makeup and skin care. When using it for facial massage, makeup, or skin care, by configuring the rotor assembly to cover the entire face, it is possible to massage the entire face at once, and a puff can be attached to the surface of the rotor assembly to remove makeup or cleanse. Furthermore, by incorporating the cylindrical rotor 10 into a pillow, it can be used as a massager for the head, neck, shoulders, and back, and in addition, a vibration function may be provided.

[0179] In addition, in the above-mentioned third embodiment, the cylindrical rotating body 10 or the rotating body assembly 1 is programmed to use the cylindrical rotating body 10 or the rotating body assembly 1 as an educational toy. In addition to this configuration, a plate or a member equivalent thereto can be attached to one end of the rotating body assembly 1 to make it into a plate spinning toy. This allows people to compete over the number of cylindrical rotating bodies 10 that can spin plates. In addition, by configuring the cylindrical rotating body 10 to emit water, it can be used as a water trick tool. Furthermore, the rotating body assembly 1 can be made into a snake-shaped robot that can be programmed and assembled. It can also be used as a wheel for playground equipment such as a roller coaster. Furthermore, the rotating body assembly 1 can be used in an attraction device such as a chair or a vehicle that vibrates in accordance with the video to vibrate spectators or passengers.

[0180] In addition to the above-mentioned embodiment, a cylindrical rotating body 10 having a small shape may be arranged inside a cylindrical rotating body 10 having a large shape. The cylindrical rotating body 10 may also be used underwater and in the air. For example, by attaching a screw to the cylindrical rotating body 10, it may be used as a motor for underwater or surface water travel, or by attaching multiple blades to the cylindrical rotating body 10, it may be used as a propeller (it may also be used as an underwater drone, and the propeller may also be used as a seaweed remover). Depending on the mounting direction (including horizontal and vertical directions) of the cylindrical rotating body 10, it may also be used as a motor for traveling underwater in the horizontal or vertical direction. The cylindrical rotating body 10 may also be provided with a solar panel and configured to supply power by solar power generation. A plurality of cylindrical rotating bodies 10 may also be arranged in succession on a road or a baggage transport route. As a result, the cylindrical rotating body 10 may rotate to transport people, cars, baggage, etc. like a conveyor belt.

[0181] In addition to the above-mentioned embodiments, the cylindrical rotating body 10 or the rotating body assembly 1 can be equipped with a camera or a speaker to be used as a security device. In this case, for example, a pole set up vertically can be held by the rotating body assembly 1 as in the fifth embodiment to become a mobile security camera / speaker. Also, by attaching a heat generating mechanism, it can be used as a self-propelled iron. Furthermore, the cylindrical rotating body 10 can be used in an internal combustion engine, an engine (including a hybrid engine, a rocket engine, and a hydrogen engine), and a generator.

[0182] Furthermore, the cylindrical rotating body 10 or the rotating body assembly 1 can be attached to fishing gear for use. For example, the roller of a winch that winds up a net can be the cylindrical rotating body 10. Also, the cylindrical rotating body 10 can be used to configure a reel attached to a fishing rod, fishing gear, a winch for winding up a net, and the like.

[0183] The cylindrical rotating body 10 or the rotating body assembly 1 may be used as a tire (wheel) of a vehicle, or as a caterpillar, or as a wheel of a train (or a train-type moving body). Such a train-type moving body may transport a container, and may run on a road. In the above-mentioned sixth embodiment, the cylindrical rotating body 10 or the rotating body assembly 1 is used as a robot hand, but instead of or in addition to this configuration, the cylindrical rotating body 10 or the rotating body assembly 1 may be used as a foot of a robot. For example, the cylindrical rotating body 10 or the rotating body assembly 1 may be attached to the bottom of the foot of the robot to make the robot mobile. In this case, the braking of each cylindrical rotating body 10 can be controlled by a control device so that the robot does not fall over. The number of feet that the robot has is not particularly limited. Furthermore, the cylindrical rotating body 10 may be used as an arm, a torso, or a leg of the robot.

[0184] In addition, the above-mentioned rotor assembly 1 does not need to rotate in the same direction, and the cylindrical rotors 10 constituting the rotor assembly 1 can rotate in directions controlled independently. Also, the rotation speed and the presence or absence of rotation can be controlled independently for each cylindrical rotor 10.

[0185] In the sixth embodiment described above, the rotating body assembly 1b that grips the rope R and rotates and travels on the rope R has been exemplified, but the present invention is not limited thereto, and for example, as shown in Fig. 34, a plurality of sets of robot hands 101 arranged facing each other vertically or horizontally may be provided on the main body 57 via connectors 43. The main body 57 includes a control device that controls the driving of the robot hands 101, a power source, and a wireless communication device. The main body 57 may be an inspection device or a transport unit having a transport space. The rope R may be arranged in parallel in the left-right direction instead of in the up-down direction. The rope R may be a wire, an electric wire, a reinforcing bar, a rail, or a pole.

[0186] In the above-described eighth embodiment, the blade 19 is attached to the exterior body 13 of the cylindrical rotating body 10, but in addition to this configuration, the blade 19 may also be attached to the surface of the connecting member 20. By providing the connecting member 20 with the same function as the cylindrical rotating body 10 in this way, even when the cylindrical rotating body 10 is connected by the connecting member 20, grass cutting and the like can be performed evenly.

[0187] Also, as shown in FIG. 25(A), the cylindrical rotating body 10 can be attached to a pole standing vertically via a mounting tool. Also, as shown in FIG. 25(B), the cylindrical rotating body 10 can be attached to a pole P extending horizontally away from the ground via a mounting tool. The mounting tool 56 is not particularly limited, and a known mounting tool can be used. In this way, the cylindrical rotating body 10 can be attached to any member by using the mounting tool 56. Here, the motor of the cylindrical rotating body 10 may be configured by a hydraulic motor, and a tank containing a hydraulic pump, a hydraulic tank, or an engine fuel may be provided in the hollow part, or a hybrid drive source having both an engine and a motor may be provided. Also, a spraying device (sprayer) for spraying pesticides and the like may be attached to the cylindrical rotating body 10. Although FIG. 25 illustrates a configuration including a single cylindrical rotating body 10, multiple cylindrical rotating bodies 10 may be connected in series.

[0188] Furthermore, in the above-mentioned embodiment, the configuration in which the blade 19 is attached to the cylindrical rotating body 10 is exemplified, but the shape of the blade 19 is not particularly limited. For example, it may be a reel-type structure with multiple blades like a razor, a rotary-type structure in which a disk with a blade on the outer edge is attached to the end of the cylindrical rotating body 10 and rotated like a so-called "electric circular saw" to perform cutting, or a grinding machine of a grinder may be attached to the end of the cylindrical rotating body 10 and rotated. Also, it may be a structure in which only the edge part, which is the blade, is rotated by the cylindrical rotating body 10 like a chain saw. Furthermore, it may be a structure in which a comb having multiple comb-shaped protrusions is attached to the exterior body 13 and rotated by the cylindrical rotating body 10 to trim the head of an animal or a human. Also, by attaching blades to the cylindrical rotating body 10 like an electric fan, the cylindrical rotating body 10 can be used as a dryer or a blower. When the cylindrical rotating body 10 is used as a dryer, it can be configured to blow hot air. Furthermore, by configuring it to emit UV light, it can be used as a hand dryer with a sterilizing function. Also, by attaching blades to the cylindrical rotating body 10, it can be used for wind power generation and hydroelectric power generation. Furthermore, by configuring the cylindrical rotating body 10 to have blades and blow hot air, it can be used as a bio-toilet. In addition, by attaching blades to the cylindrical rotating body 10, it can be used as an agitator that agitates water in aquaculture plants to incorporate air, an agitator for agricultural fertilizer, a wind power generator, or a hydroelectric generator.

[0189] In the above-mentioned fifth embodiment (FIGS. 8 and 9), the cylindrical rotating bodies 10 are connected by the connecting member 22 having the shaft 23. In addition to this, for example, as shown in FIG. 26(A), a configuration in which a plurality of cylindrical rotating bodies 10 are connected by the connecting member 22 can be used. Here, FIG. 26(B) illustrates a configuration in which a base part 81 is attached to the rotating body assembly 1o shown in FIG. 26(A) via the cylindrical rotating bodies 10. By connecting a plurality of cylindrical rotating bodies 10 by the connecting member 22, as shown in FIG. 26(B), it is possible to smoothly rotate and move along the ground even when the ground is uneven. At this time, it is also possible to change the direction of travel by making the rotation speed of each cylindrical rotating body 10 different. It is also possible to move up stairs. In particular, in the example shown in FIG. 26(B), the cylindrical rotating bodies 10 are used as vertically extending supports, and the base part 81 can be made approximately horizontal even when the ground is uneven by controlling the expansion and contraction of the cylindrical rotating bodies 10. Therefore, for example, the rotating body assembly 1o can be configured to carry people or luggage and move them over uneven roads. Also, for example, the rotating body assembly 1o can be configured to carry containers or cars (vehicles to be transported). Furthermore, by replacing the wheels of a stroller, suitcase, or wheelchair with the rotating body assembly 1o, the stroller, suitcase, or wheelchair can be moved smoothly. In addition, by configuring the rotating body assembly 1o to have a suspension, it is possible to absorb more shocks. It is also possible to prepare multiple rotating body assemblies 1o and use them by connecting them one behind the other.

[0190] Furthermore, in the above-described embodiment, a configuration in which the cylindrical rotating body 10 has motors 11, 13 has been exemplified, but this configuration is not limited to this. For example, as shown in FIG. 11, when multiple cylindrical rotating bodies 10 are connected in parallel, some cylindrical rotating bodies 10 may not be equipped with motors 11, 13 and may rotate in response to the rotation of other cylindrical rotating bodies 10 that have motors 11, 13. [Explanation of symbols]

[0191] 1... Rotating body assembly 2... Variable connection member 3...Working equipment (finger cot) 4. Working equipment 5...Work equipment (farmer) 6...Work equipment (cart) 8...Work equipment (cart) 10...Cylindrical rotating body 11…Stator 12...Core 13...Exterior body (rotor) 14…First connecting part 15…Second connecting part 16…Battery 17...Control device 18...Communication equipment 19…Blade 20...Connecting member 21...Torso 22...Connecting member (movable shaft) 23...Axis 24...post 25...Long connecting member 26...Connection part 27...Connecting member (movable shaft) 28…Connecting bar 29…Shaft 30...Wheel 31...Base part (bottom of sack) 33…Flange 34...Tillage claw (right) 35...Tillage claw (left) 36…Mounting base 37...Bolt insertion hole 38…Through hole 39...End flange 40... Grass cutting equipment (farm vehicle) 41...Weed-cutting mechanism 42...post 43…Connector 44…Connecting bar 45...ridge 46...Seeding mechanism 47...Water sprinkler mechanism 48...Tillage mechanism 49…Foundation 50...Connecting member 52...Work equipment 54…Running gear 55…Main body 56…Mounting fixture 57…Connector 58…hinge 59...Connecting member 60...Work equipment 61...Main body 62…Pulley 63…Turntable 64...Height adjustment device (winch) 65...Opening adjustment device 66…Pruning mechanism 67…Caster stand 70...Rotating body fixing member 71...Connection part 74…Road roller 75...Roller connecting frame 80…base 81...Slide mechanism 82...legs 83…Turntable 84...Wheel fixing part 85…Wheel support 86...Rotating body support 90…Extendable cylinder 91...Cylinder body 92...Tension control device 93…Accumulator 94,95…Threaded section 96...Hydraulic cylinder 100...Lifting device 101... Rotating body assembly 102…Base 110...Cylindrical rotating body 120...Connecting member 203...Work equipment 204...Main body 205…Pattern 206…Balloon 207...Tube member 210...Cylindrical rotating body 220...Connecting member 221...Tip member 230...Connecting member 231...Protective material 303...Work equipment 304...Main body 305…Pattern 310...Cylindrical rotating body 311...Drive unit 312…Rotating part 320…Inner movement mechanism 321…Rack 322…Pinion section 330…Outside movement mechanism 404...Main body 405…Pattern 410...Cylindrical rotating body 411...Drive unit 412…Rotating part 504…Foundation 505…Connector 506...Mask material 507...Through hole 508...End member 510,540…Cylindrical rotating body 520,550...Connecting member 580…Ear hook member 590…Extendable cylinder 603,613,633...Work equipment 604,614,634…Main body 605,615…Pattern 606,616…Grip section 607,618,620…Hair material 608...Vibration device 609,610…diaphragm 617,619…Cylindrical rotating body 635...Cylindrical rotating body 636...Belt member 637...Protective materials 638...Battery 700...Work equipment 703...Unit operation device 704…Main body 705...Support member 706...Rotating parts 707…Frame 711,712...Wheel support part 713,714…Fastener 731,732...Wheel 803...Work equipment 804...Main body 805...Fixing member 806...Control unit 807...Power supply section 810...Cylindrical rotating body 811, 812...Blade members 820...Connecting member 821…Attachment 830...Work equipment 831…Torso 832…Wing 833…Horizontal stabilizer 834…Vertical stabilizer 835...Cylindrical rotating body 836, 837...Blade member 838...Connecting member 839…Support column 840...Wing connecting member 850,870...Work equipment 851,871…Main unit 852,872…Cylindrical rotating body 853,873…Wheel 854, 874...Connecting parts 855,875...Intermediate parts 856, 876...Side end member 857, 877…Cover parts 858...Suction port 890...Work equipment 900...Work equipment 901…Cleaning section 902…Cleaning section support section 910...Cylindrical rotating body 911…Main body 914...Base connecting member 916…Main body drive unit 917…Engagement part 920...Connecting member 931~934...Cylindrical rotating body 941~944…Connecting parts 950…Self-propelled section 961,963...Cylinder 962,964…Piston rod 961~963...Cylindrical rotating body 971~973...Connecting parts 980…Self-propelled section

Claims

1. A mouthpiece-type working device, A substantially U-shaped main body; a first rotor assembly including a plurality of cylindrical rotors disposed on a bottom surface of the main body; a first belt member having a substantially U-shape and including a large number of bristles, the first belt member being wound around the first rotor assembly; a second rotor assembly including a plurality of cylindrical rotors disposed on the inner peripheral side of the first rotor assembly on the bottom surface of the main body; a second belt member having a substantially U-shape and including a large number of bristles, the second belt member being wound around the second rotor assembly; The working device is capable of brushing the inside of the oral cavity by driving the first and second rotor assemblies to rotate the first and second belt members.

2. The working device according to claim 1 , further comprising: a handle extending from the body; and a grip portion provided on the handle.

3. the first rotor assembly includes a first cylindrical rotor provided near one end of the main body, a second cylindrical rotor provided near the other end of the main body, and a plurality of cylindrical rotors provided between the first and second cylindrical rotors; The working device described in claim 1, wherein the second rotating body assembly comprises a third cylindrical rotating body provided near one end of the main body, a fourth cylindrical rotating body provided near the other end of the main body, and a plurality of cylindrical rotating bodies provided between the third and fourth cylindrical rotating bodies.

4. 4. The working device according to claim 1, wherein the main body comprises a sensor, a storage device that stores measured values ​​of the sensor, and a wireless communication device that transmits the measured values ​​of the sensor to an external device.

5. A mouthpiece-type working device, a generally U-shaped first body; a first rotor assembly including a plurality of cylindrical rotors, each having a bristles attached to one end thereof and the other end thereof embedded in the first main body; a substantially U-shaped second body disposed on an inner circumferential side of the first body; a second rotor assembly including a plurality of cylindrical rotors, each having a bristles attached to one end thereof and the other end thereof embedded in a side surface of the second main body facing the first main body; a handle member connecting the first body and the second body; Equipped with The working device is capable of brushing the inside of the oral cavity by rotating the first and second rotor assemblies.

6. A mouthpiece-type working device, a generally U-shaped first body; a first rotor assembly including a plurality of cylindrical rotors, each having a bristles attached to one end thereof and the other end thereof embedded in a bottom surface of the first main body; a substantially U-shaped second body disposed on an inner circumferential side of the first body; a second rotor assembly including a plurality of cylindrical rotors, each having a bristles attached to one end thereof and the other end thereof embedded in a bottom surface of the second main body; a handle member that connects the first body and the second body such that a gap is formed between an inner circumferential surface of the first body and an outer circumferential surface of the second body; Equipped with The working device is capable of brushing the inside of the oral cavity by rotating the first and second rotor assemblies.

7. A mouthpiece-type working device, a first body having a substantially U-shape and a large number of bristles planted on an inner peripheral surface thereof; a substantially U-shaped second body disposed on the inner periphery of the first body and having a large number of bristles planted on an outer periphery thereof facing the first body; a handle member that connects the first body and the second body such that a gap is formed between an inner circumferential surface of the first body and an outer circumferential surface of the second body; a vibration device that vibrates the first body and the second body, The working device is capable of brushing the inside of the oral cavity by driving the vibration device to vibrate the first body and the second body.

8. 8. The working device according to claim 7, wherein a vibration plate that transmits vibrations from the vibration device to the first body and the second body is embedded in the inner surface of the first body, the second body, and the handle member.

9. 6. The working device according to claim 1, wherein each of the first and second rotating body assemblies is constituted by a cylindrical rotating body including a motor and an exterior body rotated by the motor.

10. 8. The working device according to claim 6, wherein the size of the gap can be adjusted and fixed.

11. The working device according to claim 1 , wherein the cylindrical rotating body is provided with an ultrasonic transducer.

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