The invention discloses a decoupling active universal wheel assembly for precise driving, which comprises a box body, a wheel carrier which is arranged below the box body and can freely steer, a first roller and a second roller which are positioned on two sides of the wheel carrier, and a first wheel shaft and a second wheel shaft which are used for respectively driving the first roller and the second roller to roll, and a driving device for providing driving force for the first wheel shaft and the second wheel shaft and a steering device for controlling the steering of the wheel carrier are arranged in the box body. The invention further provides an omni-directional mobile platform. According to the method provided by the invention, the anti-backlash structure is introduced into the universal wheel assembly to eliminate rolling output derived during steering of the caster, so that the movement precision and flexibility of the caster are improved.

    本发明公开了一种用于精密驱动的解耦主动万向轮组件,包括箱体,安装在箱体下方可自由转向的轮架,位于轮架两侧的第一滚轮和第二滚轮,以及分别驱动第一滚轮和第二滚轮滚动的第一轮轴和第二轮轴,所述箱体内设有为所述第一轮轴和第二轮轴提供驱动力的驱动装置和用于控制轮架转向的转向装置。本发明还提供了一种全向移动平台。本发明提供的方法通过为万向轮组件引入了消隙结构消除脚轮转向时派生的滚动输出,从而提高脚轮的运动精度和灵活性。


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    Title :

    Decoupling active universal wheel assembly for precise driving and omni-directional moving platform


    Additional title:

    一种用于精密驱动的解耦主动万向轮组件及全向移动平台


    Contributors:
    WANG WEIJUN (author) / XU CHAN (author) / YANG GUILIN (author) / CHEN SILU (author) / FANG ZAOJUN (author) / ZHANG CHI (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge / F16H Getriebe , GEARING



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