Abstract
The invention relates to an omnidirectional wheel ( 10 ) with a center shaft that extends along a center shaft rotational axis (A 12 ) and a bearing drum ( 24 ) that can be rotated about a bearing drum rotational axis, at least three first-set rollers that are mounted on the bearing drum ( 24 ) such that they can be rotated about a first-set roller rotational axis (A 14.i ), which extends transversely to the center shaft rotational axis (A 12 ), are arranged around the center shaft ( 12 ) at an angular distance from each other and each have a helical-toothed first-set roller outer thread ( 18 ), at least three second-set rollers ( 16 .i), which are mounted on the bearing drum ( 24 ) such that they can be rotated about a respective second-set roller rotational axis, which extends transversely to the center shaft rotational axis (A 12 ), are arranged around the center shaft ( 12 ) at an angular distance from each other, in particular with a respective angular offset (φ) to the first-set rollers ( 14 .i) and each have a helical-toothed second-set roller outer thread ( 20 ), wherein the rollers at least partially protrude above the bearing drum ( 24 ) and wherein the omnidirectional wheel ( 10 ) is configured in such a way that a rotation of the center shaft ( 12 ) about the center shaft rotational axis (A 12 ) relative to the bearing drum ( 24 ) effects a rotational movement of the rollers about their respective rotational axis in the same direction of rotation in each case, wherein the center shaft ( 12 ) comprises a drive worm ( 22 ) that engages with the outer threads.