| 摘要 |
PROBLEM TO BE SOLVED: To provide an omnidirectional moving vehicle in which the conventional power transmission mechanism for synchronously driving a pair of belt mechanisms is abolished and capable of smoothly moving free rollers even if receiving a reaction force from a floor face or the like.SOLUTION: An omnidirectional moving vehicle includes four sets of crawlers 1 each having a different linear movement direction in a bottom face of a base. Each crawler comprises: a plurality of pairs of free rollers 6; a pair of caterpillar drive shafts 20, 21; a pair of guide plates 4A, 4B having guide grooves 17 and provided alongside of each other so as to sandwich a caterpillar body 30; a plurality of holding members 8; free roller support shafts 7; and a plurality of pairs of guide rollers. The guide groove is parallel to a plane of a trajectory plane of the caterpillar body, and a linear part thereof is parallel to a linear part of the caterpillar body and is set such that a displacement amount of a corresponding position is shifted by a prescribed amount. The plurality of holding members are held rotatably around holding member shafts, and the pair of guide rollers is provided rotatably around shafts shifted by a prescribed amount, and continuously keeps the support shaft parallel to a linear part trajectory of the caterpillar body. |
