基于单横拉杆的四轴机械联动转向机构研究

通过分析四轴整体式支架搬运车液压联动转向系统精度失真的原因,提出了基于单横拉杆的四轴机械联动转向机构,在实现精确全轮八字转向能力的同时满足U形整体式车架的空间布置要求。采用纵向传递机构驱动单侧四轮转向,由前置单横拉杆约束实现双侧转向轮关联运动。纵向传递机构由反向驱动机构及其两侧的四连杆传递机构组成,通过优化各机构参数使其具有较高的转角拟合精度。利用解析法推导了四连杆机构的运动学方程,通过计算可行域内的实际应变角误差,从中找出了四连杆机构的最优设计尺寸,该解析优化方法对同类平面机构的设计具有指导意义。

Research on Four-axis Mechanical Linkage Steering Mechanism Based on Single Steering Tie-rod

By analyzing the reason for the accuracy distortion of hydraulic linkage steering system of four-axis integral support carrier, a four-axis mechanical linkage steering mechanism based on single steering tie-rod was proposed. While ensuring the accurate eight-character steering ability of the whole wheel, it can meet the layout requirements of the U-shaped integral frame. The single-side four-wheel steering was driven by a longitudinal transmission mechanism,and the two-sided steering tier association motion is realized by the front steering tie-rod restraint. The longitudinal transfer mechanism was composed of a reverse drive mechanism and a four-link transfer mechanism. By optimizing the parameters of each mechanism, it has higher steering fitting accuracy. The motion equation of four-bar linkage mechanism was derived by analytical method. By calculating the actual strain angle error in the feasible domain, optimal design size of the four-bar linkage was found out. The analytical optimization method has guiding significance to the design of the same kind of planar mechanism.