A kind of detection device and detection method of brake system of mining four-wheel drive vehicle

Abstract

The invention discloses a braking system detection device for a mining four-wheel drive vehicle, comprising a detection roller group, a free roller group, a lifting device, a hydraulic platform, an electric control system and a data processor. The free roller group is respectively arranged at the front and rear of the detection roller group; a lifting device is respectively arranged between the front and rear rollers of each detection roller group and the free roller group; a hydraulic platform is respectively arranged below each detection roller group and the free roller group, and the data processor is used to store the detection process; the electric control system is used to drive the movement of the hydraulic platform. A detection method is also disclosed, firstly detecting the slope and bumpiness of the actual road, extracting representative slope and bumpiness indexes and storing them in the data processor; then detecting the driving braking force, including horizontal road surface, horizontal road bumpiness, simulated uphill, simulated uphill bumpiness, simulated downhill and simulated downhill bumpiness. The invention combines the actual application environment and power transmission characteristics of the mining vehicle to accurately detect the braking force of the mining vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of performance detection of mining four-wheel drive vehicles, and in particular to a detection device and a detection method for a braking system of a mining four-wheel drive vehicle. Background Art

[0002] The braking performance of a car refers to the ability of the car to stop in a short time while maintaining the stability of the driving direction and the ability to maintain a certain speed on a long downhill slope. The quality of the car's braking performance directly affects driving safety. Therefore, it is of great practical significance to accurately test the braking performance of the vehicle.

[0003] At present, the single-axis reaction braking force test bench is commonly used to test the braking performance of automobiles. This test bench can only test the braking performance of single-axis drive vehicles. Due to the unique power transmission system of mining four-wheel drive vehicles and the special environment in which they are used (used inside the channel, often in ups and downs, with long slopes, large slopes, and rugged roads), if the existing single-axis reaction braking force test bench is used for testing, when the test wheel is driven to rotate by the roller of the single-axis reaction braking force test bench, the non-test wheel will rotate accordingly. In addition, the existing test bench cannot simulate the actual application environment of mining vehicles, and the test results will be greatly deviated. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a braking system detection device for a mining four-wheel drive vehicle, which can accurately detect the braking force of the mining vehicle in combination with the actual application environment and power transmission characteristics of the mining vehicle.

[0005] Another object of the present invention is to provide a method for detecting the braking system of a mining four-wheel drive vehicle, which can simulate the actual application environment of the mining vehicle and accurately detect the braking system of the mining four-wheel drive vehicle.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions to achieve it.

[0007] Technical Solution 1

[0008] A braking system detection device for a mining four-wheel drive vehicle comprises a detection roller group, a free roller group, a lifting device, a hydraulic platform, an electric control system and a data processor.

[0009] The detection roller group includes two groups, left and right, each of which includes two front and rear detection rollers. The detection roller group is used to drive the wheels of the tested vehicle to rotate to detect the resistance of the wheels.

[0010] The free roller groups are respectively arranged in front of and behind the detection roller group along the forward direction of the vehicle; there are multiple free roller groups, and each free roller group includes two free rollers, front and rear;

[0011] There are multiple lifting devices, one lifting device is respectively arranged between the front and rear two rollers of each detection roller group and each free roller group; the lifting device is used to make the tested vehicle smoothly enter and exit the brake test bench;

[0012] There are multiple hydraulic platforms; a hydraulic platform is set under each detection roller group to control the up and down movement of the detection roller group; a hydraulic platform is set under each free roller group to control the up and down movement and forward and backward movement of the free roller group;

[0013] The data processor is used to store the detection process; the electronic control system is used to drive the movement of each hydraulic platform according to the output of the data processor.

[0014] The characteristics and further improvements of the technical solution 1 of the present invention are:

[0015] Preferably, there are at least two free roller groups arranged in front of the detection roller group.

[0016] Preferably, there are at least two free roller groups arranged behind the detection roller group.

[0017] Preferably, gaps are reserved between the front and rear free roller groups.

[0018] Further preferably, an active zone is provided in the gap.

[0019] Further preferably, the active zone is a steel plate.

[0020] Technical Solution 2

[0021] A method for detecting a braking system of a mining four-wheel drive vehicle, based on the above-mentioned braking system detection device for a mining four-wheel drive vehicle, comprises the following steps:

[0022] Step 1, detecting the slope of the road and the degree of bumpiness at each slope in the actual place where the mining four-wheel drive vehicle is used, and extracting the detection results of N representative slope indexes and representative bumpiness indexes of the vehicle in motion according to the detection results, and storing them in a data processor;

[0023] Step 2: The vehicle under test is driven into the test bench perpendicular to the roller direction, so that the front axle wheels of the vehicle under test are between the detection rollers and the rear axle wheels are between a set of free rollers;

[0024] Step 3: After the vehicle under test stops, put the transmission in neutral position, and make the service brake and parking brake fully released;

[0025] Step 4, measuring the axle weight;

[0026] Step 5, causing the detection roller to drive the wheel to rotate and detecting the wheel blocking force;

[0027] Step 6, detecting the driving braking force: step on the brake pedal multiple times, measure the braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle during the whole process of braking force growth under different simulated road conditions, and measure the maximum braking force of each wheel, and record the sum of the maximum braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle, which is the maximum braking force of the detection roller on the wheels of the detection axle;

[0028] Step 7: Check the parking brake performance.

[0029] The characteristics and further improvements of the second technical solution of the present invention are:

[0030] Preferably, step 6 comprises the following sub-steps:

[0031] Sub-step 6.1, detecting the maximum braking force of the front axle wheels;

[0032] Sub-step 6.1.1, performing a braking force test on a horizontal road surface, with a slope of i1, and recording the maximum braking force obtained by the test as F1;

[0033] Sub-step 6.1.2, perform braking force detection when the horizontal road is bumpy, the slope is i1, and the maximum braking force detected is recorded as F 1d ;

[0034] Sub-step 6.1.3, performing a braking force test when simulating an uphill slope, the slope is i2, and the maximum braking force obtained by the test is recorded as F2;

[0035] Sub-step 6.1.4, perform braking force detection when simulating uphill bumps with a slope of i2, and the maximum braking force detected is recorded as F 2d ;

[0036] Sub-step 6.1.5: Follow the method of steps 6.1.1-6.1.4 to perform the following steps with slopes i3, i4, ..., i n 、...、i N The braking force of the simulated uphill and simulated uphill bumps is detected, and the maximum braking force obtained by the detection is recorded as F3 and F 3d , F4, F 4d ,...F n 、F nd , ..., F N 、F Nd ;

[0037] Sub-step 6.1.6: Follow the method of steps 6.1-6.4 to perform the following steps with slopes j2, j3, ..., j n ,...,j N The braking force of simulated downhill and simulated downhill bumps is detected, and the maximum braking force obtained by the detection is recorded as D2 and D 2d , D3, D 3d ,...D j , D jd ,...,D N , D Nd ;

[0038] Sub-step 6.1.7, perform weighted average of the maximum braking force obtained in each detection stage, and output the final braking force detection result of the front axle, recorded as F 前 :

[0039]

[0040] Among them, f n 、f nd ,d j ,d jd is the weighting coefficient,

[0041] and

[0042] Sub-step 6.2, detecting the maximum braking force of the rear axle wheels;

[0043] The detection method is the same as step 6.1, and the final braking force detection result of the rear axle is output, which is recorded as F 后 .

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The braking system detection device for a mining four-wheel drive vehicle provided by the present invention is an improvement on the existing single-axis reaction-force braking force detection platform, so that it can realize accurate detection of the braking force of the mining four-wheel drive vehicle in combination with the actual application environment of the mining four-wheel drive vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of a top view of an embodiment of a detection device for a braking system of a mining four-wheel drive vehicle provided by the present invention;

[0048] Figure 2 A schematic side structural diagram of an embodiment of a detection device for a braking system of a mining four-wheel drive vehicle provided by the present invention;

[0049] Figure 3 It is a schematic diagram of a mining four-wheel drive vehicle ascending a certain slope under the action of a hydraulic platform;

[0050] Figure 4 This is a schematic diagram of the detection items in the detection method for the braking system of a mining four-wheel drive vehicle provided by the present invention.

[0051] above Figure 1-Figure 4 Middle: 1 detection roller group; 101 front detection roller; 102 rear detection roller; 2 free roller group; 201 front free roller; 202 rear free roller; 3 lifting device; 4 hydraulic platform; 5 electronic control system; 6 data processor; 7 reaction roller brake test bench; 8 reduction box; 9 motor; 10 activity zone; 11 wheel. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The embodiment of the present invention provides a braking system detection device for a mining four-wheel drive vehicle, comprising a detection roller group 1, a free roller group 2, a lifting device 3, a hydraulic platform 4, an electric control system 5 and a data processor 6.

[0054] The detection roller group 1 includes two groups, a left group and a right group. Each detection roller group 1 includes two front and rear detection rollers, which are respectively denoted as a front detection roller 101 and a rear detection roller 102. The detection roller group 1 is used to drive the wheel 11 of the vehicle under test to rotate so as to detect the blocking force of the wheel 11.

[0055] The free roller group 2 is respectively arranged in front and rear of the detection roller group 1 along the vehicle's forward direction; there are multiple free roller groups 2, and the number of free roller groups 2 is set depending on the different wheelbases of the mining four-wheel drive vehicle. In this embodiment, for the convenience of description, the free roller group 2 arranged in the front is recorded as the front free roller group, and the free roller group arranged in the rear is recorded as the rear free roller group. Figure 1 In this embodiment, the front free roller group and the rear free roller group are respectively provided with 6 groups. Each free roller group 2 includes two front and rear free rollers, which are respectively recorded as the front free roller 201 and the rear free roller 202;

[0056] refer to Figure 1 and Figure 2 There are multiple lifting devices 3, and one lifting device 3 is respectively arranged between the front and rear two rollers of each detection roller group 1 and each free roller group 2; the lifting device 3 is used to make the vehicle under test enter and exit the brake test bench smoothly;

[0057] refer to Figure 2 There are multiple hydraulic platforms 4; a hydraulic platform 4 is set under each group of detection roller groups 1 to control the up and down movement of the detection roller group 1; a hydraulic platform 4 is set under each group of free roller groups 2 to control the up and down movement and front and back movement of the free roller group 2 to achieve the purpose of simulating the actual application environment of the mining vehicle.

[0058] In the above embodiment, when simulating the actual environment to test the braking force, since the wheelbase of the vehicle is a fixed value, when simulating different slopes, the horizontal distance between the test roller group 1 and the free roller group 2 required for vehicle testing will change to a certain extent. Therefore, gaps are reserved between the front and rear free roller groups, and a moving zone 10 is provided in the gap. When the moving zone 10 is connected to the free roller group 2, it is used to achieve the smooth driving of the tested vehicle into the brake test bench. When the moving zone 10 is disconnected from the free roller group 2, the reserved gap creates conditions for the forward and backward movement of the free roller group 2, so that the free roller group 2 will not be disturbed by other free roller groups 2 when moving forward and backward.

[0059] Specifically, the activity zone 10 can be composed of two equal-sized steel plates, which are arranged at the edge of each free roller. The steel plates are placed horizontally to connect the free rollers to facilitate the vehicle to enter the test bench smoothly, and are placed vertically to create a gap between the free rollers, providing conditions for testing the driving braking force when simulating uphill and downhill slopes.

[0060] In the above embodiment, the detection roller set 1 and the lifting device 3 are part of the reaction type roller brake test bench in the prior art. The reaction type roller brake test bench is a widely used brake force detection test bench, which is composed of two sets of symmetrical wheel brake force test units with completely the same structure and a set of indication and control devices. Each set of wheel brake force test units is composed of a frame, a driving device, a detection roller, a measuring device, a lifting device, an indication and control device, etc.

[0061] refer to Figure 2 The electronic control system 5 is used to drive each hydraulic platform 4 to move and lift, and the data processor is used to store the detection process so that the hydraulic platform 4 can perform a predetermined movement at a specified time to simulate the road slope and bumpiness (i.e., uneven road surface), and monitor and record the braking force detection data of the reaction roller brake test bench in real time.

[0062] In addition, an embodiment of the present invention further provides a method for detecting a braking system of a mining four-wheel drive vehicle. The braking system detection device for a mining four-wheel drive vehicle provided in the above embodiment includes the following steps:

[0063] Step 1, detecting the slope of the road and the degree of bumpiness at each slope in the actual place where the mining four-wheel drive vehicle is used, and extracting the detection results of N representative slope indexes and representative bumpiness indexes of the vehicle in motion according to the detection results, and storing them in the data processor 6;

[0064] Representative slope index and representative bumpiness index of the moving vehicle should be extracted according to the actual application environment of the mining four-wheel drive vehicle.

[0065] The slopes are denoted as i1, i2, ..., i n 、...、i N , where i1 is the horizontal placement of the vehicle, i.e. i1 = 0, and i1 <i2<...<i n <... N .

[0066] Step 2: The vehicle under test is driven into the test bench perpendicular to the roller direction, so that the front axle wheels of the vehicle under test are between the detection rollers and the rear axle wheels are between a set of free rollers.

[0067] Specifically, first turn on the power switch of the test bench and put the lifting device in the raised position, drive the vehicle to be tested into the test bench perpendicular to the direction of the rollers, so that the front axle wheels are on the lifting plate between the two test rollers, and the rear axle wheels are on the lifting plate between the two free rollers.

[0068] Step 3: After the vehicle under test stops, put the transmission in neutral position, and make the service brake and parking brake completely relaxed. Put the foot switch on the brake pedal, and then lower the lifting device until the tire of the vehicle under test is completely separated from the lifting device.

[0069] Step 4: Use the axle weight measuring device provided on the test bench to measure the axle weight.

[0070] Step 5, start the motor, make the detection roller drive the wheel to rotate for 2 seconds, and then detect the wheel resistance.

[0071] Step 6, detect the driving braking force: step on the brake pedal multiple times, measure the braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle during the whole process of braking force growth under different simulated road conditions, and the maximum braking force of each wheel, and record the sum of the maximum braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle, which is the maximum braking force of the detection roller on the wheels of the detection axle.

[0072] refer to Figure 4 , which includes the following sub-steps:​

[0073] Sub-step 6.1, detecting the maximum braking force of the front axle wheels;

[0074] Sub-step 6.1.1, performing a braking force test on a horizontal road surface, with a slope of i1, and recording the maximum braking force obtained by the test as F1;

[0075] Sub-step 6.1.2, perform braking force detection when the horizontal road is bumpy, the slope is i1, and the maximum braking force detected is recorded as F 1d ;

[0076] Sub-step 6.1.3, performing a braking force test when simulating an uphill slope, the slope is i2, and the maximum braking force obtained by the test is recorded as F2;

[0077] Sub-step 6.1.4, perform braking force detection when simulating uphill bumps with a slope of i2, and the maximum braking force detected is recorded as F 2d ;

[0078] Sub-step 6.1.5: Follow the method of steps 6.1.1-6.1.4 to perform the following steps with slopes i3, i4, ..., i n 、...、i N The braking force of the simulated uphill and simulated uphill bumps is detected, and the maximum braking force obtained by the detection is recorded as F3 and F 3d , F4, F 4d ,...F n 、F nd , ..., F N 、F Nd ;

[0079] Sub-step 6.1.6: Follow the method of steps 6.1-6.4 to perform the following steps with slopes j2, j3, ..., j n ,...,j N The braking force of simulated downhill and simulated downhill bumps is detected, and the maximum braking force obtained by the detection is recorded as D2 and D 2d , D3, D 3d ,...D j , D jd ,...,D N , D Nd ;

[0080] Sub-step 6.1.7, perform weighted average of the maximum braking force obtained in each detection stage, and output the final braking force detection result of the front axle, recorded as F 前 :

[0081]

[0082] Among them, f n 、fnd ,d j ,d jd is the weighting coefficient,

[0083] and

[0084] Sub-step 6.2, detecting the maximum braking force of the rear axle wheels;

[0085] The detection method is the same as step 6.1, and the final braking force detection result of the rear axle is output, which is recorded as F 后 .

[0086] Specifically, this embodiment sets three slopes i1, i2, and i3 to detect the driving braking force of the vehicle under test under these three slope conditions. Depress the brake pedal multiple times, measure the braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle during the whole process of braking force growth, and measure the maximum braking force of each wheel. The sum of the maximum braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle is recorded respectively, which is the maximum braking force of the roller on the wheels of the detection axle. At the same time, the braking coordination time is measured. At this stage, it is specifically carried out according to the following process:

[0087] Sub-step 6.1, detecting the maximum braking force of the front axle wheels.

[0088] Sub-step 6.1.1, conduct a braking force test on a horizontal road surface with a slope of i1. The maximum braking force obtained by the test is recorded as F1. In this stage, each free roller and the test roller are at the same height, and the vehicle is placed horizontally.

[0089] Sub-step 6.1.2, perform braking force detection when the horizontal road is bumpy, the slope is i1, and the maximum braking force detected is recorded as F 1d .

[0090] In this stage, the data processor transmits the bump signal stored in advance to the electronic control system, which drives the hydraulic platform to drive the rollers corresponding to each tire of the vehicle to bump up and down. Bumping is a continuous dynamic process, that is, the rollers corresponding to each tire perform continuous uneven movement (the degree of bumping is extracted in the actual application scenario). The maximum braking force detected is recorded as F 1d After the test in this stage is completed, the test roller stops working, each roller device returns to its original position, and the vehicle remains level.

[0091] Sub-step 6.1.3, a braking force test is performed when simulating an uphill slope, the slope is i2, and the maximum braking force obtained by the test is recorded as F2.

[0092] In this stage, the position of the detection roller does not change, and the free roller starts to descend under the drive of the hydraulic platform and stops when the slope reaches i2. Figure 3After that, the detection roller starts to rotate, driving the front wheel to perform braking force detection on the i2 slope.

[0093] Sub-step 6.1.4, perform braking force detection when simulating uphill bumps with a slope of i2, and the maximum braking force detected is recorded as F 2d .

[0094] At this stage, the data processor also transmits the bump signal stored in advance to the electronic control system, and the electronic control system drives the hydraulic platform to drive the rollers corresponding to each tire of the vehicle to bump up and down, simulating the real road conditions of uphill bumps.

[0095] Sub-step 6.1.5, according to the above method, the braking force test is performed when the slope is i3 and the braking force is simulated uphill and bumpy uphill, and the maximum braking force obtained by the test is recorded as F3 and F 3d .

[0096] Sub-step 6.1.6, after the simulated uphill test is completed, driven by the hydraulic platform, each roller returns to the initial position. Then, the braking force test of simulated downhill and downhill bump is carried out. At this time, the position of the detection roller remains unchanged, and the free roller is raised to carry out the braking force test of simulated downhill and simulated downhill (bump) when the slope is i2 and i3. The maximum braking force obtained by the test is recorded as D2 and D 2d , D3, D 3d .

[0097] Sub-step 6.1.7, perform weighted average of the maximum braking force obtained in each detection stage, and output the final braking force detection result of the front axle, recorded as F 前 :

[0098]

[0099] Among them, f n 、f nd ,d j ,d jd is the weighting coefficient,

[0100] and

[0101] Sub-step 6.2, detecting the maximum braking force of the rear axle wheels;

[0102] After the maximum braking force test of the front axle wheel is completed, the lifting device is raised, the tested axle is driven out, the next axle is driven in, and the rear axle wheel blocking force, braking force, left and right wheel braking force difference and braking coordination time are tested according to the above method. The braking force of the left and right wheels of the rear axle and the maximum value of the braking force under various conditions during the whole process of the braking force growth are tested multiple times, and then the maximum braking force of the rear axle wheel at each stage is output. The detection method is the same as sub-step 6.1, and the final braking force test result of the rear axle is output, recorded as F 后 .

[0103] Step 7: Check the parking brake performance.

[0104] When the axle related to the parking brake is on the test bench, after the service brake test is completed, the motor should be restarted. When the service brake is completely released, the parking brake should be tightened forcefully to test the parking brake performance.

[0105] After all tests are completed, cut off the power supply of the hole test bench and the test is completed.

[0106] In the above embodiments, when the braking force is detected, each detection stage lasts for 2 minutes.

[0107] In the above embodiments, the weighting coefficient is determined by statistical analysis, using the principle of normal distribution in mathematical statistics to analyze the discreteness of each evaluation stage and assign weights. The evaluation stage with small discreteness is relatively reliable, and the weight assigned is relatively large; conversely, the weight is relatively small. And the sum of the weighting coefficients of the detection axis is 1.

[0108] In the above embodiments, when the slope changes, the detection roller should stop working until the slope change is completed and then continue to work to detect the braking force in the next stage.

[0109] In the above embodiments, when the slope needs to be changed, the detection roller does not change, and the free roller changes position. During the slope change, the detection wheel will generate a pressure difference △N on the front and rear rollers in the detection roller. During the slope change, the data processor senses △N in real time and sends instructions to the electronic control system to instruct the hydraulic platform to move (the movement includes the up and down movement of the hydraulic platform and the movement along the direction of the vehicle). The hydraulic platform drives the roller to move toward the side of the roller with greater pressure along the direction of the vehicle until the pressure difference △N = 0, and the hydraulic platform stops moving and locks after rising to the predetermined slope.

[0110] In the above embodiments, the detection of parking brake performance and the detection of brake coordination time are both performed using conventional detection methods.

[0111] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for detecting a braking system of a mining four-wheel drive vehicle, based on a detection device for a braking system of a mining four-wheel drive vehicle, characterized in that: The following steps are involved: Step 1, detecting the slope of the road and the degree of bumpiness at each slope in the actual place where the mining four-wheel drive vehicle is used, and extracting the detection results of N representative slope indexes and representative bumpiness indexes of the vehicle in motion according to the detection results, and storing them in a data processor; Step 2: The vehicle under test is driven into the test bench perpendicular to the roller direction, so that the front axle wheels of the vehicle under test are between the detection roller groups and the rear axle wheels are between the free roller groups; Step 3: After the vehicle under test stops, put the transmission in neutral position, and make the service brake and parking brake fully released; Step 4, measuring the axle weight; Step 5, causing the detection roller to drive the wheel to rotate and detecting the wheel blocking force; Step 6, detecting the driving braking force: step on the brake pedal multiple times, measure the braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle during the whole process of braking force growth under different simulated road conditions, and measure the maximum braking force of each wheel, and record the sum of the maximum braking force of the left and right wheels of the front axle and the left and right wheels of the rear axle, which is the maximum braking force of the detection roller on the wheels of the detection axle; Step 7, testing the parking brake performance: measuring the braking force of the left and right wheels of the rear axle during the entire process of braking force growth under different simulated road conditions and the maximum value of the braking force of each wheel; The braking system testing equipment for the mining four-wheel drive vehicle comprises a testing roller group, a free roller group, a lifting device, a hydraulic platform, an electric control system and a data processor; The detection roller group includes two groups, left and right, each of which includes two front and rear detection rollers. The detection roller group is used to drive the wheels of the tested vehicle to rotate to detect the resistance of the wheels. The free roller groups are respectively arranged in front of and behind the detection roller group along the forward direction of the vehicle; there are multiple free roller groups, and each free roller group includes two free rollers, front and rear; There are multiple lifting devices, one lifting device is respectively arranged between the front and rear two rollers of each detection roller group and each free roller group; the lifting device is used to make the tested vehicle smoothly enter and exit the brake test bench; There are multiple hydraulic platforms; a hydraulic platform is set under each detection roller group to control the up and down movement of the detection roller group; a hydraulic platform is set under each free roller group to control the up and down movement and forward and backward movement of the free roller group; The data processor is used to store the detection process; The electronic control system is used to drive the movement of each hydraulic platform according to the output of the data processor.

2. The method for detecting the braking system of a mining four-wheel drive vehicle according to claim 1, characterized in that: Step 6 contains the following sub-steps: Sub-step 6.1, detecting the maximum braking force of the front axle wheels; Sub-step 6.1.1, performing a braking force test on a horizontal road surface, with a slope of i1, and recording the maximum braking force obtained by the test as F1; Sub-step 6.1.2, perform braking force detection when the horizontal road is bumpy, the slope is i1, and the maximum braking force detected is recorded as F 1d ; Sub-step 6.1.3, performing a braking force test when simulating an uphill slope, the slope is i2, and the maximum braking force obtained by the test is recorded as F2; Sub-step 6.1.4, perform braking force detection when simulating uphill bumps with a slope of i2, and the maximum braking force detected is recorded as F 2d ; Sub-step 6.1.5: Follow the method of steps 6.1.1-6.1.4 to perform the following steps with slopes i3, i4, ..., i n 、...、i N The braking force of the simulated uphill and simulated uphill bumps is detected, and the maximum braking force obtained by the detection is recorded as F3 and F 3d , F4, F 4d ,...F n 、F nd , ..., F N 、F Nd ; Sub-step 6.1.6: Follow the method of steps 6.1-6.4 to perform the following steps with slopes j2, j3, ..., j n ,...,j N The braking force of simulated downhill and simulated downhill bumps is detected, and the maximum braking force obtained by the detection is recorded as D2 and D 2d , D3, D 3d ,...D j , D jd ,...,D N , D Nd ; Sub-step 6.1.7, perform weighted average of the maximum braking force obtained in each detection stage, and output the final braking force detection result of the front axle, recorded as F 前 : Among them, f n 、f nd ,d j ,d jd is the weighting coefficient, and Sub-step 6.2, detecting the maximum braking force of the rear axle wheels; The detection method is the same as step 6.1, and the final braking force detection result of the rear axle is output, which is recorded as F 后 .

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