Four-wheel steering mining dump truck and steering method thereof

Abstract

The invention discloses a four-wheel steering mining dump truck. The four-wheel steering mining dump truck comprises a steering mechanism, a steering hydraulic system, a driving wheel assembly and a frame, the frame is provided with a front axle and a rear axle, the front axle and the rear axle are respectively provided with two driving wheel assemblies, the two driving wheel assemblies of the front axle are connected and mounted on a steering mechanism of the front axle, the two driving wheel assemblies of the rear axle are connected and mounted on a steering mechanism of the rear axle, and a steering wheel of each driving wheel assembly participates in steering; the front axle and the rear axle are respectively provided with an axle support, the frame is provided with a frame support, and the steering mechanism comprises a steering crank, a steering pull rod, a steering arm, a steering cylinder and a steering support; the steering hydraulic system is used for providing pressure oil for the steering cylinder and pushing the telescopic rod to stretch out or retract back. The invention further discloses a steering method of the four-wheel steering mining dump truck. The four-wheel steering electric vehicle has a four-wheel steering function, so that the turning radius of the whole vehicle is smaller, and the vehicle can adapt to a narrower road environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mining dump trucks, and particularly relates to a four-wheel steering mining dump truck and a steering method thereof. BACKGROUND

[0002] The mining dump truck is an important transport equipment for open-pit mining. With the development of open-pit mining technology in recent years, the efficiency of open-pit mining is continuously improved, and the depth of the mine pit is continuously increased. Many mines are mined at a lower level, resulting in a narrower pit bottom road and higher requirements for the turning radius of the mining dump truck. On the other hand, during the driving of the bidirectional mining truck, both the front and rear wheels need to be steered to ensure the stability of the driving.

[0003] Publication No. CN117419135A discloses a mining truck multi-input multi-gear new energy gearbox transmission structure and its transmission method, which includes a double-motor input assembly one, a double-motor input assembly two, and a total output assembly. The two power flows in the double-motor input assembly one are combined and output through a constant meshing output unit one. The two power flows in the double-motor input assembly two are combined and output through a constant meshing output unit two. The constant meshing output unit one and the constant meshing output unit two are respectively connected with an intermediate shaft group one and an intermediate shaft group two. Between the intermediate shaft group one and the intermediate shaft group two is connected a gear set one, a gear set two, a gear set three, and a gear set four. The gear set one, the gear set two, the gear set three, and the gear set four respectively include a gear one driven gear, a gear two driven gear, a gear three driven gear, and a gear four driven gear, and the power flows are combined through the gear one driven gear, the gear two driven gear, the gear three driven gear, and the gear four driven gear to the total output assembly for output. Between the double-motor input assembly one and the constant meshing output unit one, and between the double-motor input assembly two and the constant meshing output unit two, two-stage reduction is respectively formed. The gear set one, the gear set two, the gear set three, and the gear set four respectively form three-stage reduction. The gearbox transmission structure meets the operation requirements of the mining truck gearbox and the customer's demand for the stability of the whole vehicle operation.

[0004] Publication No. CN113027998B discloses a variable speed drive system of multiple drive motors and a gear shifting control method thereof. The variable speed drive system includes a first drive motor, a second drive motor, and a third drive motor. The excessive motors work together, which not only completely solves the problem of power interruption during gear shifting, but also ensures the reliability of gear shifting under harsh working conditions.

[0005] Publication No. CN119734757A discloses an unmanned mining dump truck, a double-redundancy hydraulic four-wheel steering system, and a method. The steering action of the front and rear steering cylinders is realized through four electro-hydraulic steering valves controlling two flow amplifiers, which meets the steering requirements of bidirectional driving and realizes the double-redundancy steering function of the front and rear axles, thereby improving the steering safety.

[0006] The driving mode in the prior art, whether multi-motor driving or transmission driving structure, cannot solve the problem of reducing the turning radius. Meanwhile, how the steering hydraulic system cooperates with the steering mechanism, the driving wheel assembly and the frame is a technical problem to be solved. SUMMARY

[0007] The present application aims to provide a four-wheel steering mine dump truck and a steering method thereof, which has a four-wheel steering function, a smaller turning radius of the whole vehicle and can adapt to a narrower road environment.

[0008] To achieve the above-mentioned purpose, the technical solution used by the present application is as follows: The four-wheel steering mine dump truck comprises a steering mechanism, a steering hydraulic system, a driving wheel assembly and a frame. The frame is provided with a front axle and a rear axle, and the front axle and the rear axle are respectively provided with two driving wheel assemblies. The two driving wheel assemblies of the front axle are connected and installed on the steering mechanism of the front axle, and the two driving wheel assemblies of the rear axle are connected and installed on the steering mechanism of the rear axle. The steering wheels of each driving wheel assembly participate in steering. The front axle and the rear axle are respectively provided with axle supports, and the frame is provided with a frame support. The steering mechanism comprises a steering crank, a steering pull rod, a steering arm, a steering cylinder and a steering support. One end of the steering crank is hinged to the axle support, and the other end of the steering crank is hinged to the end head on the inner side of the steering pull rod on both sides. The end head on the outer side of the steering pull rod is hinged to one end of the steering arm, and the other end of the steering arm is connected to the driving wheel assembly. The steering support is connected to the driving wheel assembly. The rear end of the steering cylinder is hinged to the frame support, and the telescopic rod at the front end of the steering cylinder is hinged to the steering support. The steering hydraulic system is used to provide pressure oil to the steering cylinder to push the telescopic rod to extend or retract.

[0009] Further, the two steering cylinders of the front axle are respectively connected through hydraulic pipelines to control the two steering cylinders of the front wheels, and the two steering cylinders of the rear axle are respectively connected through hydraulic pipelines to control the two steering cylinders of the rear wheels. The steering hydraulic system comprises a steering control valve, an electromagnetic cartridge valve and a flow amplifier. Four are fixed on the frame, the front axle or the rear axle. The steering control valve receives the control signal of the vehicle controller and outputs the pilot pressure oil to the flow amplifier. The working oil port and the oil return port of the steering control valve are respectively connected through hydraulic pipelines to the control port and the oil return port of the flow amplifier. The oil inlet of the steering control valve is connected through a hydraulic pipeline to the pressure oil, and the oil return port is connected through a hydraulic pipeline to the hydraulic oil tank. The electromagnetic cartridge valve is connected to the steering control valve. The working oil port of the electromagnetic cartridge valve is connected through a hydraulic pipeline to the control port of the steering control valve. The oil inlet is connected through a hydraulic pipeline to the pressure oil through a hydraulic pipeline. The electromagnetic cartridge valve communicates with the vehicle controller through a heartbeat signal. The flow amplifier is used to control the action of the steering cylinder. The oil outlet is connected through a hydraulic pipeline to the steering cylinder, and the oil return port is connected through a hydraulic pipeline to the hydraulic oil tank.

[0010] Further, the steering mechanism of the front axle and the rear axle is respectively provided with two steering control valves, one of which is a main control valve and the other is a secondary control valve, and the main control valve and the secondary control valve are connected in parallel; the vehicle controller can determine the fault condition through the heartbeat signal, and when the main control valve fails, the vehicle controller issues a command to control the main control valve to stop working, and the secondary control valve is put into work.

[0011] Further, the steering hydraulic system further comprises a steering energy accumulator, which is installed in the steering hydraulic system through a hydraulic pipeline and is used for storing energy for the steering hydraulic system, and when the steering hydraulic system fails to have power, the steering energy accumulator provides pressure oil for the steering hydraulic system.

[0012] Further, the steering support and the steering arm are respectively located on the lower part of the driving wheel assembly on both sides, and the steering pull rod, the steering arm, the steering crank, the steering pull rod, and the steering cylinder and the steering support are hinged through a joint bearing and a pin shaft.

[0013] Further, the steering pull rod comprises a pull rod body and an end head, the pull rod body is respectively provided with a threaded rod at both ends, the end head is provided with an internal thread hole, and the threaded rod is installed in the internal thread hole.

[0014] Further, the driving wheel assembly is hinged to the frame, the frame is respectively hinged with a fork arm on both sides, the fork arm is hinged to the driving wheel assembly through a kingpin at the lower part, and the front axle and the rear axle are respectively welded with a limiting block, and the two limiting blocks are respectively located on both sides of the steering crank.

[0015] Further, the frame support is respectively arranged on both sides of the frame on the side of the front axle and the rear axle, the rear end of the steering cylinder is connected with the frame support through a joint bearing and a pin shaft, and a magnetostrictive sensor is integrated in the steering cylinder.

[0016] The steering method of the four-wheel steering mine dump truck comprises: The hydraulic oil pump outputs pressure oil to the steering hydraulic system, the steering mechanism is operated to steer the driving wheel assembly, and the steering instruction issued by the vehicle controller is given to the steering control valve; The steering control valve controls the flow amplifier to output pressure oil to the steering cylinder, the telescopic rod of the steering cylinder pushes the driving wheel assembly to steer, and the rotation directions of the driving wheel assemblies of the front axle and the rear axle are opposite.

[0017] The telescopic rod of the steering cylinder preferably pushes the steering support to deviate, the steering support pushes the driving wheel assembly to steer, the steering arm connected with the driving wheel assembly drives the steering pull rod to move to one side, the steering crank rotates, so that the steering pull rods on both sides of the steering crank move to one side at the same time; the working oil port of the steering control valve outputs the pilot pressure oil to the control port of the flow amplifier, the working oil port of the flow amplifier is connected, and the pressure oil is output to one of the two steering cylinders on the same side, the telescopic rod of the steering cylinder receiving the pressure oil is extended, the return oil port of the steering cylinder not receiving the pressure oil is connected, and the telescopic rod of the steering cylinder is retracted, and the pressure oil returns to the hydraulic oil tank through the hydraulic pipeline.

[0018] The technical effects of the present application include: The four-wheel steering mine dump truck has the four-wheel steering function, so that the turning radius of the whole vehicle is smaller, and the mine dump truck can adapt to a narrower road environment. The front and rear have the same steering mechanism, the interchangeability of components is high, and the front and rear axles are each provided with two sets of steering control valves, so that the front and rear steering mechanisms can be controlled separately, and the flexibility of the mine dump truck steering is greatly enhanced.

[0019] The present application provides a double-redundant control system, which can better ensure the safety of the four-wheel steering system. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the four-wheel steering mine dump truck in the present application; Figure 2 is a structural schematic diagram of the steering mechanism in the present application; Figure 3 is a connection schematic diagram of the steering mechanism and the frame in the present application; Figure 4 is a structural principle diagram of the steering hydraulic system 2 in the present application. DETAILED DESCRIPTION

[0021] The following description fully illustrates the specific embodiments of the present application, so that those skilled in the art can practice and reproduce.

[0022] As shown in Figure 1 , it is a structural schematic diagram of the four-wheel steering mine dump truck in the present application; as shown in Figure 2 , it is a structural schematic diagram of the steering mechanism 1 in the present application; as shown in Figure 3 , it is a connection schematic diagram of the steering mechanism 1 and the frame 4 in the present application.

[0023] The four-wheel steering mine dump truck comprises a steering mechanism 1, a steering hydraulic system 2, a driving wheel assembly 3, and a frame 4. Two sets of steering mechanisms 1 are arranged on the front axle and the rear axle on the front side and the rear side of the frame 4. Two driving wheel assemblies 3 of the front axle are connected with one set of steering mechanisms 1, and two driving wheel assemblies 3 of the rear axle are connected with one set of steering mechanisms 1, so that the four wheels have steering functions at the same time, thereby realizing the four-wheel steering function. The mine dump truck has four driving wheel assemblies 3, and the steering wheels of each driving wheel assembly 3 all participate in steering.

[0024] The driving wheel assembly 3 is hinged to the frame 4, and a fork arm is hinged to each side of the frame 4. The lower part of the fork arm is hinged to the driving wheel assembly 3 through a kingpin.

[0025] The steering mechanism 1 comprises a steering crank 11, a steering pull rod 12, a steering arm 13, a steering limit 14, a steering cylinder 15, and a steering support 16. One end of the steering crank 11 is provided with a first crank hole, the front axle / rear axle is provided with an axle support 41, a connecting hole of the first crank hole and the axle support 41 is installed with a bushing, and a pin shaft is installed in the bushing. One end of the steering crank 11 is connected to the front axle / rear axle through the pin shaft and the bushing, the other end of the steering crank 11 is provided with two second crank holes, and the two second crank holes are connected with the end heads of the two ends of the steering pull rod 12 through joint bearings 5 and pin shafts, respectively.

[0026] The joint bearing 5 is a rod end joint bearing, one end of the joint bearing is connected to the end head of the steering pull rod 12, and the pin shaft is inserted into the inner ring of the joint bearing 5 and the second crank hole.

[0027] The steering pull rod 12 comprises a pull rod body and an end head. Threaded rods are arranged at the two ends of the pull rod body, and the end head is provided with an internal thread hole. The threaded rods are installed in the internal thread hole. Through the structure, the length of the steering pull rod 12 is adjustable, so that the toe-in of the vehicle can be adjusted.

[0028] One end of the steering arm 13 is hinged to the steering pull rod 12, and the other end is connected to the lower part of the driving wheel assembly 3 through a bolt.

[0029] The limit blocks 14 are welded on the front axle / rear axle. Two limit blocks 14 are located on the two sides of the steering crank 11 to ensure the limit strength. The structure can limit the steering limit of the steering mechanism.

[0030] The frame 4 of the front axle / rear axle side is provided with a frame support 42 on each side, the steering cylinder 15 is a hydraulic cylinder, the rear end of the cylinder body is connected with the joint bearing 5, the pin shaft is inserted into the inner ring of the joint bearing 5 and the connecting hole of the frame support 42, and the steering cylinder 15 is connected with the frame support 42 on the frame 4 through the joint bearing 5 and the pin shaft; the steering support 16 is connected with the driving wheel assembly 3, the telescopic rod at the front end of the steering cylinder 15 is connected with the steering support 16 on the driving wheel assembly 3 through the joint bearing 5 and the pin shaft, the pin shaft is inserted into the inner ring of the joint bearing 5 and the connecting hole of the steering support 16, and the driving wheel assembly 3 can be driven to rotate when the telescopic rod is extended or retracted.

[0031] The steering support 16 and the frame support 42 are provided with connecting holes, and the connecting holes are provided with bushings. Meanwhile, the magnetostrictive sensor is integrated in the steering cylinder 15, which can accurately monitor the displacement of the telescopic rod of the steering cylinder 15, so as to achieve accurate control of steering. The steering cylinder support 16 is installed on the driving wheel assembly 3, and is used for connecting one end of the steering cylinder 15 to the driving wheel assembly 3 through the joint bearing 5, so that the driving wheel assembly 3 can be driven to move when the telescopic rod is extended or retracted.

[0032] As shown in Figure 4 , it is the structure principle diagram of the steering hydraulic system 2.

[0033] The steering hydraulic system 2 is used for providing pressure oil for the steering cylinder 12, and driving the telescopic rod to extend or retract. The steering hydraulic system 2 comprises a steering accumulator 21, a steering control valve (electro-hydraulic steering valve) 22, an electromagnetic cartridge valve 23 and a flow amplifier 24.

[0034] The steering accumulator 21 is fixed on the frame 4 and installed in the steering hydraulic system 2 through a hydraulic pipeline, and is used for storing energy for the steering hydraulic system 2. When the steering hydraulic system 2 loses power due to failure, the steering accumulator 21 can temporarily provide pressure for the steering hydraulic system, so as to meet the steering requirement of the mine car in an emergency.

[0035] The steering control valve 22 is fixed on the frame 4, the front axle or the rear axle, and four steering control valves 22 control the steering mechanism 1 of the front and rear wheels to perform steering action. Two steering control valves 22 are installed in the middle of the steering mechanism 1, two steering cylinders 15 of the front axle are connected through hydraulic pipelines to control two steering cylinders 15 of the front wheels, and two steering cylinders 15 of the rear axle are connected through hydraulic pipelines to control two steering cylinders 15 of the rear wheels.

[0036] The steering mechanism 1 of the front axle / rear axle has two steering control valves 22, one steering control valve 22 is a main control valve, and the other is a vice control valve. The electromagnetic cartridge valve 23 is integrated on each steering control valve 22, and the electromagnetic cartridge valve 23 can control the position of the valve core, so that the steering mechanism 1 performs different actions.

[0037] The steering control valve 22 receives a control signal of the vehicle controller and outputs a pilot pressure oil to the flow amplifier 24. The P port (working oil port) and the T port (return oil port) of the steering control valve 22 are connected to the control port and the T port of the flow amplifier 24 through hydraulic pipelines respectively. The main control valve and the auxiliary control valve are connected in parallel, and the P port, the T port and the L port are connected through hydraulic pipelines.

[0038] The electromagnetic plug-in valve 23 is connected to the steering control valve 22. The P port (working oil port) of the electromagnetic plug-in valve 23 is connected to the control port of the steering control valve 22 through a hydraulic pipeline, and the oil inlet is connected to the pressure oil through a hydraulic pipeline. The vehicle controller can determine its fault condition through the heartbeat signal. The electromagnetic plug-in valve 23 can communicate with the vehicle controller through the heartbeat signal. When the main control valve fails, the main control valve will be controlled to stop working, and the auxiliary control valve will be put into work to ensure that the steering system can work normally.

[0039] The flow amplifier 24 is used to control the action of the steering cylinder 15 of the front axle / rear axle. The oil outlet is connected to the steering cylinder 15 through a hydraulic pipeline, and the return oil port is connected to the hydraulic oil tank through a hydraulic pipeline.

[0040] The steering control valve 22 outputs a pilot pressure oil to control the flow amplifier 24 under the control of the electric signal. The oil outlet of the flow amplifier 24 is connected to the steering cylinder 15 to control the action of the steering mechanism. The excess pressure oil is returned to the hydraulic oil tank.

[0041] The four-wheel steering mine dump truck has a set of same steering mechanism 1 for each of the front axle and the rear axle, and the parts have high interchangeability. Meanwhile, two sets of steering control valves 22 are arranged for each of the front axle and the rear axle, so that the front and rear steering mechanisms 1 can be controlled individually, and various steering modes such as four-wheel steering, front-wheel steering and rear-wheel steering can be realized, thereby greatly enhancing the flexibility of the steering of the mine truck.

[0042] The steering method of the four-wheel steering mine dump truck includes the following specific steps. Step 1: The hydraulic oil pump outputs pressure oil to the steering hydraulic system 2, and the steering mechanism 1 is operated to make the drive wheel assembly 3 steer. The steering instruction issued by the vehicle controller is given to the steering control valve 22. Step 2: The steering control valve 22 controls the flow amplifier 24 to output pressure oil to the steering cylinder 15. The extension rod of the steering cylinder 15 pushes the drive wheel assembly 3 to steer. The rotation directions of the drive wheel assemblies 3 of the front axle and the rear axle are opposite.

[0043] The opposite rotation directions of the drive wheel assemblies 3 of the front axle and the rear axle can reduce the turning radius of the four-wheel steering mine dump truck.

[0044] Two steering cylinders 15 of the front axle or the rear axle are located on both sides of the frame 4, the telescopic rod of one steering cylinder 15 is extended, and the telescopic rod of the other steering cylinder 15 is retracted, so that the two drive wheel assemblies 3 on the same side rotate in the same direction and are synchronously steered.

[0045] The telescopic rod of the steering cylinder 15 pushes the steering support 16 to be offset, the steering support 16 pushes the drive wheel assembly 3 to be steered, the steering arm 13 connected with the drive wheel assembly 3 drives the steering pull rod 12 to move to one side, the steering crank 11 is simultaneously rotated, so that the steering pull rods 12 on both sides of the steering crank 11 are simultaneously moved to one side, and when the steering crank 11 contacts the steering limit 14, it is indicated that the steering reaches the maximum position.

[0046] The working oil port of the steering control valve 22 outputs the pilot pressure oil to the control port of the flow amplifier 24, the working oil port of the flow amplifier 24 is connected, and the pressure oil is output to one of the two steering cylinders 15 on the same side, the telescopic rod of the steering cylinder 15 receiving the pressure oil is extended, the oil return port of the steering cylinder 15 not receiving the pressure oil is connected, the telescopic rod of the steering cylinder 15 is retracted, and the pressure oil returns to the hydraulic oil tank through the hydraulic pipeline.

[0047] The magnetostrictive sensor in the steering cylinder 15 monitors the displacement of the telescopic rod of the steering cylinder 15 and feeds back to the vehicle controller, so as to realize accurate control of steering.

[0048] The terms used in the present application are illustrative and exemplary, but not limiting terms. Since the present application can be embodied in various forms without departing from the spirit or essential characteristics of the technical solution, it should be understood that the above examples are not limited to any of the above details, but should be widely interpreted within the spirit and scope defined by the appended claims, and therefore all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A four-wheel steering mining dump truck, characterized in that: include: Steering mechanism, steering hydraulic system, drive wheel assembly, frame; The frame is provided with a front axle and a rear axle, and the front axle and the rear axle are respectively provided with two driving wheel assemblies, the two driving wheel assemblies of the front axle are connected to the steering mechanism installed on the front axle, and the two driving wheel assemblies of the rear axle are connected to the steering mechanism installed on the rear axle, and the steering wheels of each driving wheel assembly participate in steering; the front axle and the rear axle are respectively provided with axle supports, and the frame is provided with frame supports. The steering mechanism includes: a steering crank, a steering rod, a steering arm, a steering cylinder, and a steering support. One end of the steering crank is hinged to the axle support, and the other end of the steering crank is hinged to the inner end of the steering rod on both sides, and the outer end of the steering rod is hinged to one end of the steering arm, and the other end of the steering arm is connected to the driving wheel assembly; the steering support is connected to the driving wheel assembly, the rear end of the steering cylinder is hinged to the frame support, and the telescopic rod at the front end of the steering cylinder is hinged to the steering support; the steering hydraulic system is used to provide pressure oil to the steering cylinder to push the telescopic rod to extend or retract.

2. The four-wheel steering mining dump truck according to claim 1, characterized in that: The two steering cylinders on the front axle are connected to the two steering cylinders that control the steering of the front wheels through hydraulic pipelines, and the two steering cylinders on the rear axle are connected to the two steering cylinders that control the steering of the rear wheels through hydraulic pipelines; the steering hydraulic system includes: a steering control valve, a solenoid cartridge valve, and a flow amplifier, four of which are fixed on the vehicle frame, front axle or rear axle. The steering control valve receives the control signal of the vehicle controller and outputs the pilot pressure oil to the flow amplifier. The working oil port and return oil port of the steering control valve are connected to the control port and return oil port of the flow amplifier respectively through hydraulic pipelines; the oil inlet of the steering control valve is connected to the pressure oil through a hydraulic pipeline, and the return oil port is connected to the hydraulic oil tank through a hydraulic pipeline; the solenoid cartridge valve is connected to the steering control valve, and the working oil port of the solenoid cartridge valve is connected to the control port of the steering control valve through a hydraulic pipeline, and the oil inlet is connected to the pressure oil through a hydraulic pipeline. The solenoid cartridge valve communicates with the vehicle controller through a heartbeat signal; the flow amplifier is used to control the action of the steering cylinder, the oil outlet is connected to the connected steering cylinder through a hydraulic pipeline, and the oil return port is connected to the hydraulic oil tank through a hydraulic pipeline.

3. The four-wheel steering mining dump truck according to claim 2, characterized in that: The steering mechanisms of the front and rear axles are respectively equipped with two steering control valves, one steering control valve is the main control valve and the other is the auxiliary control valve. The main control valve and the auxiliary control valve are connected in parallel. The vehicle controller can determine the fault condition through the heartbeat signal. When the main control valve fails, it sends an instruction to control the main control valve to stop working and the auxiliary control valve to start working.

4. The four-wheel steering mining dump truck according to claim 2, characterized in that: The steering hydraulic system also includes: a steering accumulator, which is installed in the steering hydraulic system through hydraulic pipelines and is used to store energy for the steering hydraulic system. When the steering hydraulic system fails and loses power, the steering accumulator provides pressure oil for the steering hydraulic system.

5. The four-wheel steering mining dump truck according to claim 1, characterized in that: The steering support and steering arm are respectively located on both sides of the lower part of the driving wheel assembly. The steering rod, steering arm, steering crank, steering rod, steering cylinder and steering support are hinged through joint bearings and pins.

6. The four-wheel steering mining dump truck according to claim 1, characterized in that: The steering tie rod comprises a tie rod body and an end head. Threaded rods are respectively provided at both ends of the tie rod body, and the end head is provided with an internal threaded hole, in which the threaded rod is installed.

7. The four-wheel steering mining dump truck according to claim 1, characterized in that The drive wheel assembly is hinged to the frame, and fork arms are hinged on both sides of the frame. The lower part of the fork arm is hinged to the drive wheel assembly through the kingpin shaft. Limit blocks are welded on the front axle and the rear axle, and the two limit blocks are located on both sides of the steering crank.

8. The four-wheel steering mining dump truck according to claim 1, characterized in that: Frame supports are provided on both sides of the frame of the front axle and rear axle sides respectively. The rear end of the steering cylinder is connected to the frame support through a joint bearing and a pin shaft. A magnetostrictive sensor is integrated in the steering cylinder.

9. The steering method for a four-wheel steering mining dump truck according to any one of claims 1 to 8, characterized in that: include: The hydraulic oil pump outputs pressure oil to the steering hydraulic system, operates the steering mechanism to steer the drive wheel assembly, and the steering command issued by the vehicle controller is sent to the steering control valve; The steering control valve controls the flow amplifier to output pressure oil to the steering cylinder. The telescopic rod of the steering cylinder pushes the drive wheel assembly to steer. The rotation directions of the drive wheel assemblies of the front axle and the rear axle are opposite.

10. The steering method for a four-wheel steering mining dump truck according to claim 9, characterized in that: The telescopic rod of the steering cylinder pushes the steering support to offset, and the steering support pushes the drive wheel assembly to steer. The steering arm connected to the drive wheel assembly drives the steering rod to move to one side, and the steering crank rotates, causing the steering rods on both sides of the steering crank to move to one side at the same time; the working oil port of the steering control valve outputs pilot pressure oil to the control port of the flow amplifier, and the working oil port of the flow amplifier is connected to output pressure oil to one of the two steering cylinders on the same side. The telescopic rod of the steering cylinder that receives pressure oil extends, and the return oil port of the steering cylinder that does not receive pressure oil is connected, the telescopic rod of the steering cylinder retracts, and the pressure oil returns to the hydraulic oil tank through the hydraulic pipeline.

Images