| 摘要 |
PROBLEM TO BE SOLVED: To provide an omnidirectional wheel and an omnidirectional moving device materializing a motor-in mechanism which is not bulky and compact, without increasing a wheel diameter. SOLUTION: The omnidirectional wheel is equipped with one or a plurality of roller frames 1 which can be rotated by a first rotating shaft. The roller frame 1 holds a plurality of free rollers 2 along a peripheral edge thereof. A frame rotating means 4 rotating the roller frame itself about the first rotating shaft is stored inside of the roller frame 1. In the omnidirectional wheel, the frame rotating means 4 may be an out rotor type driving mechanism using the roller frame 1 as an out rotor. COPYRIGHT: (C)2007,JPO&INPIT |
