To provide an omni wheel capable of reducing vibration to be generated at each barrel due to undulation, inclination, or slip on a travel road surface when in use, and enable smooth omnidirectional displacement.
In an omni wheel, a plurality of support legs 4, 5, and 6 with a branched tip are radially extended from a central portion of a barrel frame 2, and the support legs 4, 5, and 6 are mutually displaced and fixed along a circumferential direction. Among the support legs 4, 5, and 6 of each barrel frame 2, tips of the support legs 4, 5, and 6 face each other, and are branched as brackets 4a-6b with a barrel shaft hole 9. A barrel is rotatably pivoted on a barrel support shaft pivoted by the barrel shaft hole 9 of the brackets 4a-6b among adjoining support legs 4, 5, and 6. An auxiliary wheel rotatable in axial direction at the central part is provided in a recess 10 of the support legs 4, 5, and 6 branched as the brackets 4a-6b.
| JPS56167502 | BALL WHEEL WITH BRAKE |
| WO/2003/074869 | SPHERICAL MOBILITY MECHANISM |
SAKAMOTO SHIGENORI
HAMAGUCHI KAZUHIRO
MINEMASA ATSUSHI
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