Abstract: A movable robot includes a main body unit and at least three wheel units. The wheel units are connected with the main body unit. The wheel units at least partially project from the main body unit. The wheel units have contact portions for contact with a floor surface. Rotation drive devices operate for rotating the wheel units independently of each other. The main body unit is moved along the floor surface as the wheel units are rotated by the rotation drive devices. Lines projected onto the floor surface and originating from axes of rotation of the wheel units are spaced at substantially equal angular intervals.

Abstract: A movable robot includes a main body unit, and at least three wheel units connected with the main body unit. The wheel units have respective contact portions for contact with a floor surface. The contact portions are rotatable about respective axes. The main body unit moves along the floor surface as the contact portions rotate. Lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals. At most two of the axes are on a common plane. Each of the wheel units includes a motor base, a rotation drive motor supported on the motor base, a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions, and a device for transmitting a rotational force generated by the rotation drive motor to the casing.

Abstract: A movable robot includes a main body unit, and at least three wheel units connected with the main body unit. The wheel units have respective contact portions for contact with a floor surface. The contact portions are rotatable about respective axes. The main body unit moves along the floor surface as the contact portions rotate. Lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals. At most two of the axes are on a common plane. Each of the wheel units includes a motor base, a rotation drive motor supported on the motor base, a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions, and a device for transmitting a rotational force generated by the rotation drive motor to the casing.

Abstract: A movable robot includes a main body unit and at least three wheel units. The wheel units are connected with the main body unit. The wheel units at least partially project from the main body unit. The wheel units have contact portions for contact with a floor surface. Rotation drive devices operate for rotating the wheel units independently of each other. The main body unit is moved along the floor surface as the wheel units are rotated by the rotation drive devices. Lines projected onto the floor surface and originating from axes of rotation of the wheel units are spaced at substantially equal angular intervals.

Abstract: A head pressing mechanism in a thermal ink transfer printer for use with an insertable cassette in which there are housed both an elongate strip of ink transfer sheet wound at least in part on, and extending between, a payoff mandrel and a detachable takeup mandrel, and a stack of recording sheets for thermally receiving ink from the ink transfer strip. The printer withdraws the takeup mandrel from within the cassette and positions it within the printer for holding the ink transfer strip between a thermal printing head and a platen, and draws the successive recording sheets from the cassette onto the platen.

Abstract: A tape cassette is used with a recording and/or reproducing apparatus which has an optical tape end detector which is constituted by a light emitting element and light receiving elements. The tape cassette comprises an opaque cassette case having a transparent window, and a lid located at the front of the cassette case. The cassette case accommodates therein a supply reel, a take-up reel, and a magnetic tape. The transparent window enables visual detection of a wound state of the magnetic tape with respect to the reels. The magnetic tape has transparent tapes connected at ends thereof, and forms a predetermined tape path along the front of the cassette case. The transparent tapes are optically detected by the optical tape end detector when the transparent tapes are drawn out from the reels. The lid is capable of assuming an open state and a closed state, and covers the magnetic tape in the predetermined tape path in its closed state.

Abstract: A tape cassette comprises a cassette case made up from an upper half and a lower half which are connected together, a tape accommodated within the cassette case, a lid located at the front of the cassette case for covering the tape when the tape cassette is not in use, and a lock mechanism for locking the lid in its closed position when the tape cassette is not in use.