Omnidirectional propelled vehicle comprising a chassis and a first rotary shaft

A propelled vehicle comprising:

• an electrical power source,
• a chassis supporting the electrical power source,
• a first shaft supporting a propulsion unit of said propelled vehicle, mounted so as to rotate on the chassis about a first axis of rotation, and
• a first drive device for rotating the first shaft about said first axis of rotation,
• wherein the chassis comprises a first guide member for guiding the first shaft in rotation about said first axis of rotation, and wherein the first shaft comprises a first complementary member arranged to mechanically cooperate with the first guide member so as to remove at least one degree of freedom from the first shaft other than the rotation of the first shaft about the first axis of rotation, wherein the first guide member and the first complementary member are electrically conductive and are electrically connected to one another, the first guide member being electrically connected to the electrical power source and the first complementary member being electrically connected to the propulsion unit,
• wherein the first drive device comprises a motor provided with a rotary shaft that rotates about the first axis of rotation;
• wherein the first shaft comprises a transmission member that is mechanically connected to the rotary shaft of the motor so that rotation of the shaft of the motor is transmitted to the first shaft;
• wherein the first complementary member comprises a first bearing which is mounted on the transmission member and wherein the first guide member comprises a second bearing which is mounted concentrically around the first bearing.