Traveling device

Abstract

To reduce treatment unevenness or the like caused by a person moving a working device provided with wheels movable by human power.SOLUTION: A traveling device 1 according to the present invention is a traveling device 1 that is attached to a working device WM provided with a wheel W5 so as to be movable by human power and enables the working device WM to be self-propelled, and the traveling device 1 includes a placement portion 10 that receives the working device WM, a pair of driving wheels 20 that are provided on left and right sides in a traveling direction of the traveling device 1, a pair of motors 30 that are provided for the respective driving wheels 20 and rotate the driving wheels 20, a pair of drivers 40 that are provided for the respective motors 30 and control driving of the motors 30, and a control unit 50 that controls the traveling device 1.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a traveling device that is attached to a working device provided with wheels so that the working device can be moved by human power, thereby enabling the working device to be self-propelled. [Background technology]

[0002] For example, when a concrete floor is finished with a floor coating, a treatment is carried out to increase the adhesive strength between the floor coating and the concrete. Specifically, before applying a floor coating, a surface preparation is carried out to roughen the concrete surface.

[0003] A working device equipped with a grinding unit having a grinding blade for carrying out such surface preparation is known (see FIG. 4 of Patent Document 1). Specifically, the working device is equipped with wheels so that it can be moved by human power, and when a person pushes the working device by hand, the grinding unit moves and the concrete surface is roughened. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Utility Model Registration No. 3120879 Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the grinding unit is moved to the desired location by a human being, the number of grinding processes, the moving speed, the grinding range, etc. are left up to the operator, resulting in a problem of lack of accuracy.

[0006] For example, in the first grinding process, the surface of the concrete is not roughened, so the difference between the ground and unground areas can be seen with the naked eye.

[0007] However, when the concrete surface is ground after the second time, it is difficult to distinguish between areas where the second grinding process has been performed and areas where only the first grinding process has been performed, and uneven grinding is likely to occur when the grinding process is performed after the second time.

[0008] Furthermore, if the movement speed of the working device is fast, the grinding time will be short, and conversely, if the movement speed is slow, the grinding time will be long, so unevenness in the movement speed will result in unevenness in the amount of grinding.

[0009] Furthermore, if there are grinding irregularities, including unevenness in the amount of grinding, there will be areas where the adhesive strength of the floor coating material applied there will be insufficient, which will cause the floor coating material to peel off.

[0010] Furthermore, even with a work device such as a commercial vacuum cleaner that is equipped with wheels so that it can be moved by human power to follow the movements of a person, if the device is left to the worker, there is a risk of uneven cleaning.

[0011] The present disclosure has been made in consideration of the above circumstances, and one of its objectives is to reduce uneven processing caused by a person moving a working device that is equipped with wheels so that it can be moved by human power. [Means for solving the problem]

[0012] The traveling device disclosed herein is a traveling device that is attached to a working device provided with wheels so that the working device can be moved by human power, and that enables the working device to be self-propelled, The traveling device is a mounting portion for receiving the working device; A pair of drive wheels provided on the left and right sides of the traveling direction of the traveling device; a pair of motors provided for each of the drive wheels to rotate the drive wheels; a pair of drivers provided for each of the motors to control driving of the motors; and a control unit that controls the traveling device. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to reduce uneven processing caused by a person moving a working device that is equipped with wheels so that it can be moved by human power. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a perspective view of a working device WM that is made self-propelled by a traveling device according to a first embodiment of the present disclosure. FIG. [Figure 2] 1 is a side view of a traveling device according to a first embodiment of the present disclosure attached to a working device, viewed from the lateral side in the traveling direction. [Figure 3] 1 is a side view of a traveling device according to a first embodiment of the present disclosure, as viewed from a lateral side in the traveling direction. [Figure 4] 1 is a rear view of a traveling device according to a first embodiment of the present disclosure, as viewed from the rear side in the traveling direction. [Figure 5] FIG. 10 is a diagram for explaining a traveling device according to a fourth embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, modes for carrying out the invention (hereinafter referred to as "embodiments") will be described in detail with reference to the accompanying drawings. It should be noted that the same elements are denoted by the same numbers or symbols throughout the description of the embodiments.

[0016] However, not all numbers or symbols are assigned to all drawings, and in consideration of ease of viewing the drawings, numbers or symbols may be omitted in some drawings.

[0017] <<First Embodiment>> A traveling device 1 according to a first embodiment of the present disclosure will be described with reference to FIGS. 1 to 4. FIG.

[0018] In the first embodiment, the working device WM is described as a hand-pushed floor grinding machine, but the working device WM does not need to be limited to a floor grinding machine. The floor grinding machine, which is the working device WM described below, may be a commercially available one.

[0019] FIG. 1 is a perspective view of a working device WM that is made self-propelled by a traveling device 1 of a first embodiment according to the present disclosure.

[0020] FIG. 2 is a side view seen from the lateral side in the traveling direction, showing a state in which the traveling device 1 of the first embodiment according to the present disclosure is attached to a working device WM.

[0021] FIG. 3 is a side view of the traveling device 1 of the first embodiment according to the present disclosure, as viewed from the lateral side in the traveling direction.

[0022] FIG. 4 is a rear view of the traveling device 1 of the first embodiment according to the present disclosure, as seen from the rear side in the traveling direction.

[0023] In addition, in Figures 2 to 4, parts that are not visible are drawn with dotted lines for ease of explanation.

[0024] In the following description, the direction in which the vehicle travels will be referred to as the travel direction, the side in which the vehicle travels forward will be referred to as the front (forward), and the side in which the vehicle travels backward will be referred to as the rear (rear).

[0025] Furthermore, the direction perpendicular to the direction of travel is defined as the left-right direction, and when describing the left (left side) and right (right side) in the left-right direction, the left side when viewed from behind and looking forward is defined as the left (left side), and the right side when viewed from behind and looking forward is defined as the right (right side).

[0026] 2 and 3, the left-right direction of the paper is the traveling direction, the left side of the paper is the front, the right side of the paper is the rear, the front-to-back direction of the paper is the left-to-right direction, the back of the paper is the right side, and the front side of the paper is the left side.

[0027] Similarly, in FIG. 4, the front-to-back direction on the paper is the travel direction, the back side of the paper is the front, the front side of the paper is the rear, the left-to-right direction on the paper is the left side, and the right side of the paper is the right side.

[0028] [Work equipment WM] As shown in FIG. 1, the working device WM includes a grinding section W1 provided at the front so as to come into contact with the floor surface, a rotating plate (not shown) provided within the grinding section W1 and having a blade for grinding the floor surface, a motor W2 provided slightly above and behind the grinding section W1 for rotating the rotating plate, and a dust collector W3 provided immediately behind the motor W2 for sucking up dust generated during grinding.

[0029] The rotation shaft of the motor W2 and the rotation shaft of the rotary plate are connected by, for example, a belt (not shown) that transmits the rotation of the motor W2. A hose for sucking dust is connected between the grinding section W1 and the dust collector W3, but this hose is not shown in the drawing.

[0030] Furthermore, the working device WM has a shaft W4 provided on the underside of the dust collector W3, a pair of wheels W5 (the right wheel W5 is not visible) rotatably attached to the left and right ends of the shaft W4, and a handle W6 for pushing the device by hand that is fixed to the upper left and right side walls of the dust collector W3 and extends rearward.

[0031] The working device WM of the first embodiment is of a type that is used by connecting a power cord to an outlet, but the power cord is not shown in the drawings. Furthermore, switches for driving the motor W2 and the dust collector W3 for grinding are also omitted from the illustration.

[0032] Then, the operator presses the manual handle W6 to move the working device WM so that the grinding unit W1 is positioned at the location where grinding is desired, and performs grinding.

[0033] [Running gear 1] As shown in Figures 2 to 4, the traveling device 1 includes a mounting section 10 that receives the working device WM, a pair of drive wheels 20 provided on the left and right sides of the traveling direction of the traveling device 1, a pair of motors 30 provided for each drive wheel 20 to rotate the drive wheels 20, a pair of drivers 40 provided for each motor 30 to control the drive of the motors 30, and a control section 50 that controls the traveling device 1. As will be described later, the control unit 50 of the first embodiment also controls the driving of the working device WM.

[0034] The traveling device 1 is also provided with a bearing portion 60 that is provided on the mounting portion 10 and receives a shaft portion W4 (see FIGS. 1 and 2) to which a wheel W5 (see FIG. 1) of the working device WM is attached.

[0035] Furthermore, the traveling device 1 is provided with a pair of casters 70 provided below the mounting portion 10 on the left and right sides of the traveling device 1 in the traveling direction.

[0036] (Placement section 10) As shown in FIG. 3, the mounting section 10 includes a horizontal frame section 10A formed by joining alpha frames AF1 together in a rectangular shape, and a horizontal plate 10B fixed onto the horizontal frame section 10A.

[0037] In the first embodiment, the horizontal frame portion 10A is formed using the alpha frame AF1, but it is not necessarily limited to being formed using the alpha frame AF1.

[0038] Furthermore, although the mounting portion 10 is formed by a horizontal frame portion 10A and a horizontal plate 10B, it does not have to be formed in this manner, and there is no problem as long as the mounting portion 10 is capable of properly mounting the working device WM.

[0039] In the first embodiment, the mounting portion 10 supports the working device WM via a bearing portion 60 provided on the mounting portion 10, but the mounting portion 10 may also be configured to directly support a portion of the working device WM other than the shaft portion W4.

[0040] (20 drive wheels) The drive wheel 20 is a wheel that rotates by the rotation of the motor 30 . The pair of left and right drive wheels 20 are provided rearward of the placement unit 10.

[0041] In this way, by providing a pair of left and right drive wheels 20 behind the mounting portion 10, the motors 30 provided for each drive wheel 20 can be positioned between the drive wheels 20, as shown in Figure 4, and the left-right width of the traveling device 1 can be kept small.

[0042] Therefore, since the width of the traveling device 1 in the left-right direction is small, when grinding the floor, grinding processing can be performed up to the wall edge. In the first embodiment, the drive wheel 20 has approximately the same outer diameter as the wheel W5 of the working device WM.

[0043] (Motor 30) As shown in FIG. 4, the motor 30 is provided for each drive wheel 20 and includes a shaft 31 that functions as a rotation axis of the drive wheel 20.

[0044] The shaft 31 is fixed to the center of rotation of the drive wheel 20, and the drive wheel 20 rotates as the shaft 31 of the motor 30 rotates.

[0045] The motor 30 also includes two cables 33 extending from a casing 32 that houses the motor mechanism (rotor, stator, etc.).

[0046] One of the cables 33 is a power cable and is connected to a power supply (not shown), and the other is a communication cable and is connected to a driver 40 (described later).

[0047] In the first embodiment, the power supply of the working device WM is connected to a power supply in a control box BX, which will be described later, by a cable. The cable 33, which is the power cable for the motor 30, is connected to the power supply in the control box BX.

[0048] As shown in Figures 3 and 4, the traveling device 1 has a pair of left and right pillar portions PL extending vertically formed by connecting the alpha frame AF2 to both ends of the alpha frame AF1 that forms the rear side of the horizontal frame portion 10A of the mounting portion 10.

[0049] As shown in Figures 3 and 4, the running device 1 is located slightly vertically above the drive wheels 20 in a side view and has a pair of left and right arm portions AR extending horizontally rearward, which are formed by connecting an alpha frame AF3 to the rear side of each of a pair of left and right pillar portions PL.

[0050] Furthermore, as shown in Figures 3 and 4, the traveling device 1 has a pair of front and rear motor mounting parts MS1 formed by connecting a pair of front and rear alpha frames AF4 so as to connect the arms AR vertically below the pair of left and right arms AR.

[0051] As shown in FIG. 4, the motors 30 are attached to the pair of front and rear motor attachment portions MS1 by motor attachment fixtures 34 so as to be positioned below the pair of front and rear motor attachment portions MS1, respectively.

[0052] In the first embodiment, an AC servo motor capable of accurate drive control is used for the motor 30, and therefore accurate automatic control of the traveling device 1 can be performed.

[0053] As can be seen from Figure 4, the first embodiment has a simple configuration in which the shaft 31 of the motor 30 is directly connected to the center of rotation of the drive wheel 20, so there are no unnecessary parts, etc., and cost and size can be reduced.

[0054] The curves and turns of the traveling device 1 while traveling are controlled by controlling the rotation speed of each motor 30.

[0055] To be more specific and easy to understand, let us use an extreme example. For example, suppose the right motor 30 is not driven, and only the left motor 30 is driven so that the left drive wheel 20 rotates in the forward direction.

[0056] In this case, the left drive wheel 20 will try to move forward, but since the right drive wheel 20 is stopped, the traveling device 1 will rotate (curve or turn) in a circle starting from the right drive wheel 20.

[0057] In this way, the traveling device 1 of the first embodiment can make curves and turns while traveling by controlling the difference in rotation speed between the left and right motors 30.

[0058] (Driver 40) The driver 40 is provided for each motor 30 and controls the driving of the corresponding motor 30 .

[0059] Specifically, the driver 40 performs drive control of the rotation speed, torque, etc. of the motor 30 under the control of the control unit 50, which will be described later.

[0060] As shown in Figures 3 and 4, the traveling device 1 comprises an upper plate UPL installed on the upper side of the arm AR described above, a weight WT placed on the upper plate UPL, and a control box BX provided vertically above the weight WT, and the driver 40 is housed in the control box BX.

[0061] When the working device WM is disposed on the traveling device 1, the load on the front side of the traveling device 1 increases, and the drive wheels 20 may slip.

[0062] The weight WT is a weight that applies a large load to the drive wheel 20 so as to generate a high grip force between the drive wheel 20 and the floor in order to prevent the drive wheel 20 from slipping.

[0063] On the other hand, as shown in Figures 3 and 4, the running device 1 is provided with a pair of upper and lower box mounting portions MS2 formed by connecting a pair of upper and lower alpha frames AF5 vertically above the weight WT and at the rear side of the pair of left and right pillar portions PL to connect the pillar portions PL.

[0064] The control box BX is fixed to the rear side of the pair of upper and lower box mounting portions MS2.

[0065] As can be seen from the position of the control box BX, the pair of drivers 40 are provided above the drive wheels 20.

[0066] Therefore, the loads of the pair of drivers 40 also contribute to suppressing the drive wheels 20 from slipping, similar to the weights WT.

[0067] (control unit 50) The control unit 50 is a control device housed in the control box BX described above, capable of writing control programs, and is a so-called sequencer (also called PLC).

[0068] In the first embodiment, the control unit 50 is connected to a communication cable (not shown) of the driver 40, a power cable of the driver 40, and cables (not shown) for the switches and the like of the working device WM.

[0069] Therefore, the driver 40 (that is, the motor 30) and the driving of the working device WM can be controlled by control commands from the control unit 50 according to the program.

[0070] Specifically, control commands from the control unit 50 can control the driving of the grinding unit W1 of the working device WM, the dust collector W3, and the driving of the driver 40 (that is, the rotation speed and torque of the motor 30, etc.).

[0071] The power cable of the control unit 50 is connected to the power supply in the control box BX described above.

[0072] As can be seen from the position of the control box BX, the control unit 50 is provided above the drive wheels 20.

[0073] Therefore, the load of the control unit 50 also contributes to suppressing the drive wheels 20 from slipping, similar to the weight WT.

[0074] On the other hand, in the first embodiment, the traveling device 1 is provided with a wireless communication unit (not shown) that is provided in the control box BX and is communicatively connected to the control unit 50, and a wireless controller (not shown) that allows the worker to remotely operate the working device WM and the traveling device 1.

[0075] The wireless controller (not shown) is used not only for remote operation by an operator, but also for transmitting (also called inputting) to the traveling device 1 the conditions (also called data) required for the traveling device 1 to travel automatically.

[0076] For example, a Wi-Fi (registered trademark) router or the like can be used as the wireless communication unit (not shown), and the wireless controller (not shown) can be a mobile terminal such as a smartphone or tablet with a dedicated application for operation installed.

[0077] If the sequencer has a built-in wireless communication unit such as Wi-Fi (registered trademark), it is not necessary to connect a Wi-Fi (registered trademark) router or the like.

[0078] Furthermore, a terminal that functions as a controller may be connected to the control unit 50 by wire, and data required for the traveling device 1 to travel automatically may be input thereto.

[0079] (Bearing part 60) As explained above, the bearing portion 60 is provided on the support portion 10 as shown in Figures 2 and 3, and is the portion that receives the shaft portion W4 (see Figures 1 and 2) to which the wheel W5 (see Figure 1) of the working device WM is attached. Specifically, the bearing portion 60 is fixed onto the upper surface of the horizontal plate 10B of the mounting portion 10.

[0080] The method for fixing the bearing portion 60 to the horizontal plate 10B is not particularly limited, and any fixing method that can stably fix the bearing portion 60, such as bolting or welding, may be used.

[0081] As can be seen from Figures 2 and 3, the bearing portion 60 opens vertically upward and has a recess with a width approximately the same as the diameter of the shaft portion W4 of the working device WM, and the shaft portion W4 of the working device WM is positioned within this recess.

[0082] Therefore, this recess restricts the movement of the shaft W4 of the working device WM, so that the working device WM is stably placed on the placing part 10 without losing its posture or moving on the placing part 10 even when traveling by the traveling device 1.

[0083] Furthermore, the bearing portion 60 is provided so as to be located forward of the drive wheels 20 in the direction of travel and rearward of the casters 70 (described later) in the direction of travel, so as to ensure horizontal stability of the mounting portion 10.

[0084] For example, if the bearing portion 60 is located further forward in the direction of travel than the caster 70, the load of the work device WM will make it easier for the support portion 10 to tilt forward, but if the bearing portion 60 is located in a position between the caster 70 and the drive wheel 20 in the direction of travel, such tilting can be prevented.

[0085] As explained above, the drive wheel 20 has approximately the same outer diameter as the wheel W5 of the working device WM, and as shown as height H in FIG. 2, the bearing portion 60 receives the axle portion W4, to which the wheel W5 of the working device WM is attached, at a height position approximately the same as the height position of the rotation axis of the drive wheel 20 (the shaft 31 that functions as the rotation axis of the drive wheel 20).

[0086] Therefore, when the working device WM is placed on the mounting portion 10 with the wheels W5 removed, the working device WM can maintain substantially the same posture as when it was placed on the floor surface with the wheels W5.

[0087] (caster 70) The casters 70, in cooperation with the drive wheels 20, have the function of ensuring the horizontal stability of the support section 10, and are fixed to the underside of the horizontal plate 10B of the support section 10 on the forward side in the travel direction, as shown in Figures 2 and 3.

[0088] When the working device WM is a hand-pushed floor grinding machine like the working device WM of the first embodiment, a considerable load is imposed, so the casters 70 preferably have a maximum allowable load of 100 kg or more.

[0089] In the first embodiment, taking into consideration that the casters 70 can easily follow the traveling of the traveling device 1, swivel low-profile casters are used.

[0090] The caster 70 is a non-driven wheel (also called a driven wheel) that does not move by its own force but moves by receiving the force of the driving wheel 20.

[0091] In the traveling device 1 of the first embodiment as described above, for example, an operator inputs data necessary for automatic traveling into the traveling device 1.

[0092] Specifically, the worker operates a wireless controller (not shown) to transmit control information such as the grinding area, grinding speed (movement speed of the traveling device 1), number of grinding passes, and overlap width of the grinding line to the traveling device 1.

[0093] Then, the traveling device 1 moves at a specified moving speed in accordance with the control information so as to perform grinding over the entire specified grinding range for the specified number of times while overlapping the grinding lines by a specified width on the way there and back.

[0094] Therefore, the grinding process is carried out mechanically so as to satisfy the specified conditions, and it is possible to prevent uneven processing that occurs when the process is left up to the operator.

[0095] In the first embodiment, the drive wheels 20, the motor 30, the weight WT, and the control box BX are arranged vertically behind the mounting portion 10.

[0096] In the case of a hand-pushed working device WM, the handle W6 for pushing by hand often extends to the rear side of the device part, and by arranging the drive wheels 20, motor 30, weight WT, control box BX, etc. on the rear side of the mounting part 10 on which the device part is placed, it is possible to make effective use of the dead space created by the handle W6.

[0097] Therefore, the overall size can be reduced when the working device WM is disposed on the traveling device 1, which makes it possible to perform grinding processes in a narrow space, for example.

[0098] <<Second embodiment>> Next, a traveling device 1 according to a second embodiment of the present disclosure will be described. In the second embodiment, the basic configuration is similar to that of the first embodiment, so differences from the first embodiment will be mainly described, and descriptions of similarities with the first embodiment may be omitted.

[0099] In the first embodiment, a weight WT is provided to suppress slippage of the drive wheels 20, but the second embodiment differs in that a chargeable and dischargeable secondary battery (a so-called battery) is provided instead of the weight WT.

[0100] If the power supplied to the traveling device 1 and the working device WM is obtained from the secondary battery, there is no need to connect the power cord to a commercial power source in a room or the like during grinding processing.

[0101] If the power cord is on the floor, it may hinder the traveling of the traveling device 1, but in the case where there is no need to connect the power cord to a commercial power source in a room, etc., as in the second embodiment, the power cord can be removed from the floor during the grinding process, so the power cord will not hinder traveling.

[0102] Furthermore, in the case of a secondary battery suitable for a work machine WM that performs a grinding process on a floor surface, it has a certain weight and can therefore perform the same function as the weight WT.

[0103] <<Third Embodiment>> Next, a traveling device 1 according to a third embodiment of the present disclosure will be described. In the third embodiment, the basic configuration is similar to that of the first embodiment, so differences from the first embodiment will be mainly described, and descriptions of similarities with the first embodiment may be omitted.

[0104] The traveling device 1 of the third embodiment may be configured to include the secondary battery of the second embodiment.

[0105] Although not shown in the drawings, the traveling device 1 of the third embodiment further includes a surrounding environment acquisition unit that acquires three-dimensional data of the surroundings, in addition to the configuration of the traveling device 1 of the first embodiment.

[0106] The surrounding environment acquisition unit can use, for example, a 3D-LiDAR or the like that can acquire the surrounding state as three-dimensional point cloud data (sometimes called a three-dimensional map).

[0107] In this way, when the surrounding state can be grasped as a three-dimensional map, it becomes possible to make the traveling device 1 travel autonomously based on the grasped three-dimensional map.

[0108] <<Fourth Embodiment>> Next, a traveling device 1 according to a fourth embodiment of the present disclosure will be described. FIG. 5 is a diagram for explaining a traveling device 1 according to a fourth embodiment of the present disclosure, and corresponds to FIG. Note that in Figure 5, the dotted lines indicating parts that are not visible, as shown in Figure 2, are not shown.

[0109] In the fourth embodiment, the basic configuration is similar to that of the first embodiment, so differences from the first embodiment will be mainly described, and descriptions of similarities with the first embodiment may be omitted. The traveling device 1 of the fourth embodiment may be configured to include the secondary battery of the second embodiment.

[0110] As shown in FIG. 5, the fourth embodiment differs in that the working device WM is a commercial vacuum cleaner, and the working device WM includes a vacuum cleaner body VC1, a nozzle part VC2 whose tip is placed on the floor surface, and a hose VC3 that connects the rear end of the nozzle part VC2 to the suction port VC11 of the vacuum cleaner body VC1.

[0111] In the case of a commercial vacuum cleaner, wheels VC12 are provided on the underside of the vacuum cleaner body VC1 so that when the nozzle part VC2 is moved by hand, the vacuum cleaner body VC1 can follow and move by the force of the person.

[0112] The traveling device 1 is provided with a nozzle fixing portion MS3 formed by an alpha frame AF6 and the like coupled to the alpha frame AF1 that forms the front side of the horizontal frame portion 10A of the mounting portion 10.

[0113] Although not visible in Figure 5, the nozzle fixing portion MS3 is equipped with a pair of left and right alpha frames AF6 that are connected to both the left and right ends of the alpha frame AF1 that forms the front side of the horizontal frame portion 10A and extend vertically, and an alpha frame AF6 that extends left and right and is connected to the opposing surfaces of the pair of left and right alpha frames AF6 so as to connect the pair of left and right alpha frames AF6.

[0114] The straight barrel portion of the nozzle portion VC2 is fixed to an alpha frame AF6 extending in the left-right direction by a fixture (not shown).

[0115] In the case of a commercial vacuum cleaner, the nozzle part VC2 needs to maintain its posture while traveling, so it needs to be firmly fixed while allowing some play so that the contact part of the nozzle part VC2 can follow unevenness in the floor surface, etc.

[0116] On the other hand, since the vacuum cleaner itself is light enough to be lifted by hand, the movement of the vacuum cleaner main body VC1 may be restricted by a simple support means to the extent that it does not tip over on the mounting portion 10.

[0117] For example, although not shown in the drawings, it may be simply chained to one of the alpha frames of the traveling device 1.

[0118] In the fourth embodiment described above, as in the first embodiment, the cleaning process is carried out mechanically to meet the specified conditions, thereby preventing uneven processing that occurs when the process is left to the operator.

[0119] Although the present disclosure has been described above based on specific embodiments, it should be understood that the present disclosure is not limited to the above embodiments.

[0120] For example, in the embodiment, the frame portion is formed of an alpha frame, but this is not limited to this, and the frame may be formed by welding metal rods or the like.

[0121] As such, the present disclosure also encompasses modifications and improvements to the embodiments within its technical scope, which will be apparent to those skilled in the art from the claims. [Explanation of symbols]

[0122] 1 traveling device, 10 placing portion, 10A horizontal frame portion, 10B horizontal plate, 20 drive wheel, 30 motor, 31 shaft, 32 casing, 33 cable, 34 motor mounting fixture, 40 driver, 50 control portion, 60 bearing portion, 70 caster, AF1, AF2, AF3, AF4, AF5, AF6 alpha frame, AR arm portion, BX control portion Box, MS1···Motor mounting part, MS2···Box mounting part, MS3···Nozzle fixing part, PL···Column part, UPL···Top plate, VC1···Vacuum cleaner body, VC11···Suction port, VC12···Wheels, VC2···Nozzle part, VC3···Hose, W1···Grinding part, W2···Motor, W3···Dust collector, W4···Shaft part, W5···Wheels, W6···Handle, WM···Work device, WT···Weight

Claims

1. A traveling device that is attached to a working device that has wheels so that the working device can be moved by human power, and that enables the working device to be self-propelled, The traveling device is a mounting portion for receiving the working device; A pair of drive wheels provided on the left and right sides of the traveling direction of the traveling device; a pair of motors provided for each of the drive wheels to rotate the drive wheels; a pair of drivers provided for each of the motors to control driving of the motors; a control unit that controls the traveling device.

2. the pair of drive wheels are provided rearward of the placement portion, The traveling device according to claim 1 , wherein the traveling device comprises a pair of casters provided below the placing portion on the left and right sides in the traveling direction of the traveling device.

3. the traveling device is provided on the placing section and includes a bearing section for receiving an axle section for mounting a wheel of the working device; The traveling device according to claim 2 , wherein the bearing portion is located forward of the drive wheel in the traveling direction and rearward of the caster in the traveling direction.

4. The drive wheels have approximately the same outer diameter as the wheels of the work device; 4. The traveling device according to claim 3, wherein the bearing portion receives an axle portion for mounting a wheel of the working device at a height position substantially the same as a height position of the rotation shaft of the drive wheel.

5. The traveling device according to claim 1 , wherein the control unit and the pair of drivers are provided above the drive wheels.

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