Abstract: A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.

Abstract: A driving device for a carriage includes a motor, a speed reducer, and a mecanum wheel. The speed reducer decelerates the power input from the motor and outputs a decelerated power. The mecanum wheel is rotated by the decelerated power output from the speed reducer. The speed reducer includes a speed reducing unit, a carrier, and a case. The speed reducing unit receives the power from the motor. The carrier supports the speed reducing unit. The case is rotatable relative to the carrier. The mecanum wheel is fixed on the case or the carrier.

Abstract: A carriage has a carriage body having a loading platform for bearing a load and a plurality of wheels rotatably retained to the loading platform, an operation handle connected to the carriage body and grasped by a user operating the carriage, a sensor for measuring information related to a force applied to the operation handle, and a driving device for outputting a driving force based on a result of detection by the sensor to any of the plurality of wheels.

Abstract: A driving device for a carriage includes a motor, a speed reducer, and a first mecanum wheel and a second mecanum wheel. The speed reducer decelerates the rotation input from the motor and outputs decelerated rotation. The first and second mecanum wheels are arranged in the axial direction parallel to the rotation axis of the decelerated rotation output from the speed reducer and are rotated by the decelerated rotation output from the speed reducer. In the axial direction, the center of the speed reducer is positioned between an outer end of the first mecanum wheel opposite to the second mecanum wheel and an outer end of the second mecanum wheel opposite to the first mecanum wheel.

Abstract: A driving device for a carriage includes a motor, a speed reducer, and a mecanum wheel. The speed reducer decelerates the power input from the motor and outputs a decelerated power. The mecanum wheel is rotated by the decelerated power output from the speed reducer. The speed reducer includes a speed reducing unit, a carrier, and a case. The speed reducing unit receives the power from the motor. The carrier supports the speed reducing unit. The case is rotatable relative to the carrier. The mecanum wheel is fixed on the case or the carrier.