MOVABLE TRAVELLING DEVICE

To provide a movable travelling device capable of accomplishing an appropriate wheel grip by a simple linkage mechanism using neither spring nor a damper.SOLUTION: A movable travelling device 1 includes: a predetermined structure body 10; four or more wheels 20 placed around a weight center of the structure body 10; a wheel holding mechanism 30 that holds, among the multiple wheels 20, the two adjacent wheels 20 around the weight center of the structure body 10 as a set; a pair of holding shafts 40 which is provided on either one of the wheel holding mechanism 30 or the structure body 10, and which extends horizontally toward the other one of the wheel holding mechanism or the structure body; and a pair of holding grooves 50 which is provided on the other one of the wheel holding mechanism or the structure body, into which the pair of holding shafts 40 is inserted, and which enables a relative inclined motion between the wheel holding mechanism 30 and the structure body 10 around the axis of each of the pair of holding shafts 40.SELECTED DRAWING: Figure 1 【課題】車輪の適正なグリップをバネ、ダンパを使うことなく簡単なリンク機構で達成することができる移動走行装置の提供。【解決手段】移動走行装置１は、所定の構造体１０と、構造体１０の重心周りに配置された４個以上の複数の車輪２０と、複数の車輪２０のうち、構造体１０の重心周りで隣り合う車輪２０同士を二つ一組として保持する車輪保持機構３０と、車輪保持機構３０及び構造体１０のいずれか一方に設けられ、他方に向かって水平に延びる一対の保持軸４０と、他方に設けられ、一対の保持軸４０が挿入されると共に、一対の保持軸４０のそれぞれの軸回りについて、車輪保持機構３０と構造体１０との相対的な傾動を可能とさせる一対の保持溝５０と、を有する。【選択図】図１