棚车装载运送小车转向机构的虚拟设计

The virtual design of wagons loaded transport robot steering mechanism

针对棚车装载运送小车工作空间狭小,导致装载运送小车无法完成90°转向的问题,提出并设计了一种新型的原地直角转向机构。该转向机构采用了左右各两个万向节的设计,且对运送小车底盘做了适应性设计,以使每个万向节均转过45°,实现转向平稳和高效的目的。由于直角转向后左右轮毂的转向相反,同时考虑到转向机构不宜过于复杂,故设计了左右轮毂间的简易差速器。结果表明:该棚车装载运送小车转向机构可实现小车在棚车内狭小空间的直角左右转向后平移至指定位置等动作。

In the view of such problems as small working space for loading and unloading trolley and causing the loading trolley to be unable to complete 90 degree turning,a new type of in-situ right-angle steering mechanism is designed.The steering mechanism adopts the design of two left and right universal joints,and the adaptive design of the transporting car chassis makes each universal joint turn over 45 degrees to achieve the purpose of steering steady and high efficiency.Due to the opposite rotation of the left and right wheel after steering,it takes into account the simple steering mechanism to design the left and right hub between the simple differential.The results show that the box car can transfer the car to the steering mechanism and turn the car to the designated position after steering at a small angle of right and left at a small space in the car.