OMNIDIRECTIONAL MOVING DEVICE USING SPHERICAL DRIVING WHEEL

摘要

PROBLEM TO BE SOLVED: To provide an omnidirectional moving device using a spherical driving wheel improved in travel stability. SOLUTION: Three or more driving wheel assemblies W are arranged on a base 32. The respective driving wheel assemblies W support a top part 36 of the spherical driving wheel 33 by a top part support roller 37, and support an outer peripheral part by three or more outer peripheral part support rollers 35, and the respective outer peripheral part support rollers 35 are journalled by an annular roller holder 38, and the roller holder is rotatably driven by a rotational driving source 39. The rotational axis 68 on a normal of a first virtual one plane 46 including the rotational axis 49 of the respective outer peripheral part support rollers 35 and a first virtual one plane passing through the center of the spherical driving wheel 33, is inclined in the directions different with respective driving wheel assemblies W to a normal of a traveling surface 89.