| 主权项 |
1. An omni-directional wheel comprising:
a substantially cylindrical hub part provided so as to be rotatable around an axle; a plurality of rollers which have axes extending in a direction intersecting a radial direction of the hub part in a plane perpendicular to the axle, each of the plurality of rollers making an outline which has a curvature equal to a curvature of a circle centered around the axle; a support part which allows the rollers to be mounted so as to be rotatable around the respective axes, the support part supporting the rollers such that the outlines are arranged on a single circumference, the support part having an inner circumferential surface larger in diameter than an outer circumferential surface of the hub part; an elastic member which is held between and in contact between the outer circumferential surface of the hub part and the inner circumferential surface of the support part in the radial direction; a pair of first restriction members which are fixed on one of the hub part and the support part and which are disposed in contact with both end faces of the elastic member in a direction of the axle; and a second restriction member which is fixed on the other one of the hub part and the support part and which is disposed between the pair of first restriction members in the direction of the axle, wherein the elastic member includes
a first elastic member which is held between and in contact between one of the first restriction members and the second restriction member in the direction of the axle; anda second elastic member which is held between and in contact between the other first restriction member and the second restriction member in the direction of the axle. |
