STEERABLE DRIVE MECHANISM AND OMNIDIRECTIONAL MOVING VEHICLE

Provided are a drive mechanism capable of improving stability of steering environment and operation rate of power sources, and an omnidirectional moving vehicle using this drive mechanism. The omnidirectional moving vehicle comprises a vehicle body (6), and a plurality of wheels (4a to 4d) at least two wheels of which are equipped with the steering drive mechanism. The drive mechanism comprises a rotatable steering unit (1), a wheel (4) supported by the steering unit, a drive member (2) rotating about an axis extending along a center axis of the steering unit, an output shaft (3) located at an offset position from the center axis of the steering unit and transmitting rotational force of the drive member to the wheel. The drive member comprises a first drive unit (22) driven in a forward rotation direction and a second drive unit (23) driven in a reverse rotation direction and located coaxially with the first drive unit. The output shaft is provided with a first output unit (71) to which driving force is transmitted from the first drive unit, and a second output unit (72) to which driving force is transmitted from a conversion unit for converting rotation of the second drive unit, is restricted by both the output units, and transmits rotational force obtained from the output units to the wheel.