Wheel-track combined semi-trailer tractor and its traction method

Abstract

The application discloses a wheel-track combined semi-trailer tractor and a traction method thereof, and relates to the field of tractors, and can effectively improve the load capacity and driving performance of the tractor, reduce the turning radius, and realize the transverse moving function to meet the transfer requirements of large-scale equipment in a mine area.

Description

Technical Field

[0001] This invention relates to the field of engineering transportation technology. More specifically, this invention relates to a wheel-track combined semi-trailer tractor and its towing method. Background Technology

[0002] In open-pit mining, to prevent damage to large mining equipment on the face during blasting, the equipment needs to be moved to a safe area before blasting. Semi-trailers are conventionally used for equipment transport. However, currently used semi-trailers are manufactured according to highway vehicle standards, and their dimensions, axle loads, etc., must comply with GB1589 "Limits of Dimensions, Axle Loads and Masses of Motor Vehicles, Trailers and Vehicle Combinations". Using highway-standard semi-trailers for equipment transport in mining areas presents problems such as insufficient load capacity, inconvenient driving, poor power, large turning radius, and low relocation efficiency.

[0003] Besides the need to relocate mining equipment before blasting, in open-pit mines where one bench is completed and the next bench is started, large crushing and screening equipment requires lateral movement. Road semi-trailers lack this lateral movement capability, extending preparation time and severely impacting mining efficiency. Chinese patent CN201020181681.3, "Tracked Semi-Trailer Traction Equipment," discloses a tracked semi-trailer traction device for asphalt pavement heating and recycling equipment. This tracked tractor can be used in conjunction with the asphalt pavement heating vehicle disclosed in Chinese patent CN200810023500.1, and is suitable for asphalt pavement construction and maintenance. While this tracked semi-trailer traction device overcomes the shortcomings of wheeled tractors, such as insufficient traction and slippage, it is still designed to match road trailers. Its width and axle load are unsuitable for the transportation requirements of open-pit mine roads, making it unsuitable for transporting large mining equipment.

[0004] Therefore, there is an urgent need to develop a semi-trailer traction device that is suitable for mining operations, has a large load capacity, good driving dynamics, and lateral movement function. Summary of the Invention

[0005] One objective of this invention is to provide a wheel-track combined semi-trailer tractor, which, through the combination of track assembly and rear axle assembly, can achieve lateral movement on the working steps of an open-pit mine, which is beneficial for the transfer of large equipment.

[0006] To achieve these and other advantages according to the invention, according to one aspect of the invention, the invention provides a wheel-track combined semi-trailer tractor, comprising:

[0007] The frame is the carrier of the entire machine, and all working parts must be connected to the frame. The strength of the frame is crucial to the entire equipment; multiple lifting cylinders are installed at the bottom of the frame, and an H-shaped connecting bracket is installed at the rear end of the frame.

[0008] The track assembly is the power traction component of the entire equipment. It is located at the front end of the frame and includes a saddle and a track chassis. The saddle is rotatably mounted on the bottom of the frame via a traction shaft. The track chassis is connected to the bottom of the saddle. The track chassis consists of left and right tracks and track frames, as well as a connecting frame in the middle. Each set of tracks on the left and right sides is driven by a first electronically controlled power actuator.

[0009] Two rear axle assemblies are provided. Each rear axle assembly includes a swing arm and a tire assembly. The two swing arms are hinged to both sides of the connecting bracket via pins. Each tire assembly includes a floating bracket, a drive axle, and two solid tires connected in sequence. The floating brackets of the two tire assemblies are respectively installed at the bottom of the two swing arms. The two tires of each tire assembly are respectively fixed to both sides of the drive axle. A swing arm cylinder is provided between each swing arm and the connecting bracket. The rotation of each rear axle assembly is controlled by the swing arm cylinder, and the two tires of each tire assembly are driven by a second electronically controlled power actuator.

[0010] Preferably, the cylinder barrel of each rocker arm cylinder is hinged to the connecting bracket, and the cylinder rod of each rocker arm cylinder is hinged to two rocker arms respectively.

[0011] Preferably, the cylinder of each lifting cylinder is fixedly connected to the bottom of the frame, and the cylinder rod of each lifting cylinder moves up and down to lift and lower the frame respectively.

[0012] Preferably, multiple lifting cylinders are respectively installed at the rear end and the middle of the vehicle frame.

[0013] Preferably, the frame is a rigid frame structure welded from steel.

[0014] Preferably, the traction shaft is installed at the bottom of the front end of the frame, the saddle is provided with a connecting hole that matches the traction shaft, the traction shaft is rotatably inserted into the connecting hole, so that the saddle and the frame are rotatably hinged, the connecting frame is fixedly connected to the bottom of the saddle, the track frame is provided on both sides of the connecting frame, and two sets of tracks are respectively installed on the outer sides of the two sets of track frames.

[0015] Preferably, each first electronically controlled power actuator is mounted on the drive wheel of each set of tracks.

[0016] Preferably, it also includes an electronic control system, which is electrically connected to two first electronically controlled power actuators and two second electronically controlled power actuators respectively, and controls multiple lifting cylinders and swing arm cylinders through electronically controlled valves.

[0017] Preferably, the first and second electronically controlled power actuators can be traction motors or hydraulic motors, etc.

[0018] The present invention also provides a towing method for a wheel-track combined semi-trailer tractor, comprising the following steps:

[0019] like Figure 1 and Figure 2 As shown, when the wheel-track combination semi-trailer tractor is driving normally, the two sets of tracks are parallel to the extension direction of the frame. The electronic control system controls the two swing arm cylinders to retract through the electronic control valve, so that the two swing arms are perpendicular to the connecting bracket and parallel to the extension direction of the frame. The rotation direction of the tires is parallel to the extension direction of the frame. The two first electronic control power execution units drive the two sets of tracks to rotate at the same speed. The two second electronic control power execution units do not work, so that the tires are in a follow-up state. The whole vehicle moves forward or backward under the action of the track assembly.

[0020] like Figure 6 and Figure 7 As shown, when the wheel-tracked semi-trailer tractor rotates and moves, the track assembly remains stationary. The electronic control system controls multiple lifting cylinders to extend through electronic control valves, lifting the frame until the tires leave the ground. Two swing arm cylinders extend so that the two swing arms are parallel to the connecting bracket and perpendicular to the extension direction of the frame. The rotation direction of the tires is perpendicular to the extension direction of the frame. The lifting cylinders retract, making the two sets of tires contact the ground. Two second electronic power execution units drive the tires to rotate, causing the frame to rotate in a small arc around the pivot of the saddle.

[0021] like Figure 8 As shown, when the wheel-track combination semi-trailer tractor performs a lateral movement, the electronic control system first controls two first electronically controlled power actuators to differentially drive two sets of tracks through electronically controlled valves, so that the two sets of tracks gradually turn to be perpendicular to the extension direction of the frame. Then, multiple lifting cylinders are controlled to extend, lifting the frame until the tires leave the ground. Two swing arm cylinders extend so that the two swing arms are parallel to the connecting bracket and perpendicular to the extension direction of the frame. The rotation direction of the tires is perpendicular to the extension direction of the frame. The lifting cylinders retract, making the tires contact the ground. The two first electronically controlled power actuators and two second electronically controlled power actuators are activated to drive the entire vehicle to achieve lateral movement.

[0022] The present invention has at least the following beneficial effects: The present invention adopts a tracked drive type, and the whole vehicle has the advantages of large ground contact area, strong adhesion, good adaptability and large load-bearing capacity, which is suitable for the working conditions of open mines; at the same time, through the combination of track assembly and rear axle assembly, lateral movement on the working steps of open mines can be realized, which is beneficial to the transfer of large equipment.

[0023] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of one technical solution of the present invention;

[0025] Figure 2 This is a right view of one technical solution of the present invention;

[0026] Figure 3 This is a schematic diagram of the rear axle assembly in one technical solution of the present invention;

[0027] Figure 4 This is a schematic diagram of the rear axle assembly in another technical solution of the present invention;

[0028] Figure 5 This is a schematic diagram of the saddle structure in another technical solution of the present invention;

[0029] Figure 6 This is a schematic diagram of the wheel-track combination semi-trailer tractor of the present invention when it rotates to the left.

[0030] Figure 7 This is a schematic diagram of the wheel-track combination semi-trailer tractor of the present invention when it rotates to the right.

[0031] Figure 8 This is a schematic diagram of the wheel-track combination semi-trailer tractor described in this invention during the lateral movement of the entire vehicle. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can implement it based on the description.

[0033] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0034] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are conventional methods, and the reagents and materials mentioned are commercially available. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to fixed connection or setting, detachable connection or setting, or integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0035] like Figures 1-8 As shown, the present invention provides a wheel-track combined semi-trailer tractor, comprising:

[0036] The frame 100 is the carrier of the entire machine. All working parts need to be connected to the frame. The strength of the frame is the key to the entire equipment. Multiple lifting cylinders 109 are installed at the bottom of the frame. An H-shaped connecting bracket 105 is installed at the rear end of the frame 100.

[0037] The track assembly is the power traction component of the entire equipment. It is located at the head end of the frame 100 and includes a saddle 101 and a track chassis 102. The saddle 101 is rotatably mounted on the bottom of the frame 100 via a traction shaft. The track chassis 102 is connected to the bottom of the saddle 101. The track chassis 102 consists of two side tracks 103, track frames 111, and a connecting frame 110 in the middle. Each set of tracks 103 is driven by a first electronically controlled power actuator.

[0038] Two rear axle assemblies are provided. Each rear axle assembly includes a swing arm 106 and a tire assembly. The two swing arms 106 are respectively hinged to the two sides of the connecting bracket 105 by pins. Each tire assembly includes a floating bracket 120, a drive axle 121 and two tires 108 connected in sequence. The floating brackets 120 of the two tire assemblies are respectively installed at the bottom of the two swing arms 106. The two tires 108 of each tire assembly are respectively fixed to the two sides of the drive axle 121. A swing arm cylinder 107 is provided between each swing arm 106 and the connecting bracket 105. The rotation of each rear axle assembly is controlled by the swing arm cylinder 107, and the two tires 108 of each tire assembly are driven by a second electronically controlled power actuator.

[0039] In this technical solution, the wheel-track combined semi-trailer tractor is equipped with a frame 100. Track assemblies and two sets of rear axle assemblies are respectively mounted at both ends of the frame 100. The track assembly includes a saddle 101 and a track chassis 102. A traction axle is mounted at the front end of the frame 100, allowing the saddle 101 to be rotatably mounted at the bottom of the front end of the frame 100. The track chassis 102 consists of two side tracks 103, a track frame 111, and a connecting frame 110 in the middle. The 0 is fixedly connected to the bottom of the saddle. Two sets of track frames 111 are symmetrically installed on both sides of the connecting frame 110. Two sets of tracks 103 are respectively installed on the outer sides of the two sets of track frames 111, and the two sets of tracks 103 are respectively driven by two first electronically controlled power execution units. Each rear axle assembly includes a swing arm 106 and a set of tire assemblies. A connecting bracket 105 is installed at the rear end of the frame 100. The connecting bracket 105 has an H-shaped structure. The two swing arms 106 of the two rear axle assemblies are hinged to the connecting frame 110. On both sides of the connecting bracket 105, each swing arm 106 is connected to the connecting bracket 105 via a swing arm cylinder 107. The two ends of each swing arm cylinder 107 are hinged to the side walls of the swing arm 106 and the connecting bracket 105, respectively. The extension and retraction of the swing arm cylinder 107 can cause the angle between the swing arm 106 and the connecting bracket 105 to swing within the range of 0° to 90°, thereby achieving the rotation of the rear axle assembly. Multiple lifting cylinders 109 are also installed at the bottom of the frame near the rear end. The lifting cylinders 109 extend and retract vertically. The rear end of the frame 100 can be lifted. Each tire assembly is located at the bottom of the swing arm 106. The tire assembly includes a floating bracket 120, a drive axle 121 and two solid tires 108. The floating bracket 120 is connected to the bottom of the swing arm 106. The top of the drive axle 121 is connected to the floating bracket 120. Two tires are installed on the bottom sides. The two tires are parallel to each other. The two tires 108 of each tire assembly are driven to rotate by the second electronically controlled power actuator. In operation, the two sets of tracks 103 rotate parallel to the frame 100, and the two swing arms 106 are perpendicular to the connecting bracket 105, ensuring that the two sets of tire assemblies rotate parallel to the frame 100, enabling the vehicle to move forward or backward. Two first-level electronically controlled power actuators operate differentially, driving the two sets of tracks 103 at different speeds, thus enabling the tracks 103 to turn. When the two sets of tracks 103 rotate perpendicular to the frame 100, the two swing arm cylinders 107 extend, causing the two swing arms 106 to rotate parallel to the connecting bracket 105, and the two sets of tire assemblies rotate perpendicular to the frame 100, enabling the vehicle to move laterally. This technical solution uses a tracked drive system, giving the vehicle advantages such as a large ground contact area, strong adhesion, good adaptability, and high load-bearing capacity. It is suitable for open-pit mine operations, offering excellent driving power, a small turning radius, high relocation efficiency, and the ability to move laterally, meeting the needs of transporting large equipment in mining areas.

[0040] In other technical solutions, the cylinder portion of each rocker arm cylinder 107 is hinged to the connecting bracket 105, and the cylinder rod portion of each rocker arm cylinder 107 is hinged to two rocker arms 106 respectively. In this technical solution, the rocker arm cylinder 107 is used to adjust the position of the two rocker arms 106, control the rotation of the rear axle assembly, and thereby drive the adjustment of the direction of the tire 108.

[0041] In other technical solutions, the cylinder portion of each lifting cylinder 109 is fixedly connected to the bottom of the frame, and the cylinder rod of each lifting cylinder 109 extends and retracts vertically to lift and lower the frame 100 respectively. In this technical solution, the lifting cylinder 109 is used to lift the rear end of the frame 100 to facilitate adjustment of the direction of the tires 108.

[0042] In other technical solutions, multiple lifting cylinders 109 are respectively installed at the rear end and the middle of the vehicle frame 100. In this technical solution, multiple lifting cylinders 109 are symmetrically arranged at the rear end and the middle of the connecting bracket 105, which facilitates the stable lifting of the vehicle frame 100.

[0043] In some other technical solutions, the frame 100 is a rigid frame structure welded from steel. In this technical solution, the frame 100 is welded from steel, which improves the stability of the structure.

[0044] In other technical solutions, the traction shaft is installed at the bottom of the front end of the frame 100, and the saddle 101 is provided with a connecting hole that matches the traction shaft. The traction shaft is rotatably inserted into the connecting hole, so that the saddle 101 and the frame 100 are rotatably hinged. The connecting frame 110 is fixedly connected to the bottom of the saddle 101, and the track frame 111 is arranged on both sides of the connecting frame 110. Two sets of tracks 103 are respectively installed on the outer sides of the two sets of track frames 111.

[0045] In this technical solution, the saddle 101 is rotatably connected to the frame 100, the connecting frame 110 of the track chassis 102 is fixedly connected to the saddle 101, the track frame 111 is set at the bottom of the connecting frame 110 and extends obliquely downward to both sides, and the two ends of the track frame 111 are respectively connected to two sets of tracks 103. The structure of the track 103 is disclosed in the prior art. It is driven by the drive wheel and has flexible chain links arranged around the drive wheel, the mounting frame and other wheels. The track frame 111 is fixedly connected to the mounting frame to improve structural stability. The two sets of tracks 103 are rotatably mounted on the frame 100 through the saddle 101, which facilitates the turning of the two sets of tracks 103.

[0046] In other technical solutions, each first electronically controlled power actuator is mounted on the drive wheel of each set of tracks 103. In this technical solution, two first electronically controlled power actuators drive two sets of tracks 103 to operate respectively. The two first electronically controlled power actuators operate at the same speed, causing the two sets of tracks 103 to move forward or backward at the same speed. The differential speed of the two first electronically controlled power actuators enables the two sets of tracks 103 to turn.

[0047] In other technical solutions, an electronic control system 104 is also included, which is electrically connected to two first electronically controlled power actuators and two second electronically controlled power actuators, and controls multiple lifting cylinders 109 and swing arm cylinders 107 through electronically controlled valves. In this technical solution, the electronic control system 104 is used to control the operation of multiple hydraulic motors and cylinders, thereby controlling the driving, steering, and lateral movement of the entire vehicle.

[0048] In other technical solutions, the first and second electronically controlled power actuators are traction motors or hydraulic motors. In this technical solution, the electronically controlled power actuator can be a traction motor, hydraulic motor, or other drive mechanism.

[0049] The present invention also provides a towing method for a wheel-track combined semi-trailer tractor, comprising the following steps:

[0050] like Figure 1 and Figure 2 As shown, when the wheel-tracked semi-trailer tractor is driving normally, the two sets of tracks 103 are parallel to the extension direction of the frame 100. The electronic control system controls the two swing arm cylinders 107 to retract through the electronic control valve so that the two swing arms 106 are perpendicular to the connecting bracket 105 and parallel to the extension direction of the frame 100. The rotation direction of the tires is parallel to the extension direction of the frame 100. The two first electronic control power execution units drive the two sets of tracks 103 to rotate at the same speed. The two second electronic control power execution units do not work, so that the tires are in a follow-up state. The whole vehicle moves forward or backward under the action of the track assembly.

[0051] like Figure 6 and Figure 7 As shown, when the wheel-track combination semi-trailer tractor rotates and moves, the track assembly remains stationary. The electronic control system controls multiple lifting cylinders 109 to extend through electronic control valves, lifting the frame 100 until the tires leave the ground. The two swing arm cylinders 107 extend so that the two swing arms 106 are parallel to the connecting bracket 105 and perpendicular to the extension direction of the frame 100. The rotation direction of the tires is perpendicular to the extension direction of the frame 100. The lifting cylinders 109 retract, making the tires contact the ground. The two second electronic power execution units drive the tires to rotate, causing the frame 100 to rotate in a small arc around the pivot of the saddle 101.

[0052] like Figure 8As shown, when the wheel-tracked semi-trailer tractor performs a lateral movement, the electronic control system first controls two first electronically controlled power actuators to differentially drive two sets of tracks 103 through electronically controlled valves, so that the two sets of tracks 103 gradually turn to be perpendicular to the extension direction of the frame 100. Then, multiple lifting cylinders 109 are controlled to extend, lifting the frame 100 until the tires leave the ground. Two swing arm cylinders 107 extend, so that the two swing arms 106 are parallel to the connecting bracket 105 and perpendicular to the extension direction of the frame 100. The rotation direction of the tires is perpendicular to the extension direction of the frame 100. The lifting cylinders 109 retract, so that the tires contact the ground. The two first electronically controlled power actuators and two second electronically controlled power actuators are activated to drive the whole vehicle to achieve lateral movement.

[0053] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A wheel-track combination semi-trailer tractor, characterized in that, include: The frame has multiple lifting cylinders installed at its bottom, and an H-shaped connecting bracket is installed at the rear end of the frame. The track assembly, which is located at the front end of the frame, includes a saddle and a track chassis. The saddle is rotatably mounted on the bottom of the frame via a traction shaft. The track chassis is connected to the bottom of the saddle. The track chassis consists of two side tracks, track frames, and a connecting frame in the middle. Each track assembly is driven by a first electronically controlled power actuator. Two sets of rear axle assemblies, each set of rear axle assemblies includes a swing arm and a tire assembly. The two swing arms are respectively hinged to the two sides of the connecting bracket by pins. Each tire assembly includes a floating bracket, a drive axle and two tires connected in sequence. The floating brackets of the two tire assemblies are respectively installed at the bottom of the two swing arms. The two tires of each tire assembly are respectively fixed to the two sides of the drive axle. A swing arm cylinder is provided between each swing arm and the connecting bracket. The two tires of each tire assembly are driven by a second electronically controlled power actuation unit. The traction shaft is installed at the bottom of the front end of the frame. The saddle is provided with a connection hole that matches the traction shaft. The traction shaft is rotatably inserted into the connection hole, so that the saddle and the frame are rotatably hinged. The connecting frame is fixedly connected to the bottom of the saddle. The track frame is arranged on both sides of the connecting frame, and two sets of tracks are respectively installed on the outer sides of the two sets of track frames. When the wheel-track combination semi-trailer is in normal operation, the two sets of tracks are parallel to the extension direction of the frame, the two swing arm cylinders retract, so that the two swing arms are perpendicular to the connecting bracket, the two first electric control power execution units drive the two sets of tracks to rotate at the same speed, and the two second electric control power execution units do not work. When the wheel-track combination semi-trailer tractor rotates and moves, the track assembly remains stationary, multiple lifting cylinders extend and retract to lift the frame until the tires leave the ground, two swing arm cylinders extend to make the two swing arms rotate at an angle greater than 90°, the lifting cylinders retract to make the tires contact the ground, and two second electronically controlled power execution units drive the tires to rotate, causing the frame to rotate in a small arc around the saddle's axis. When the wheel-tracked semi-trailer tractor performs a lateral movement, the two first electronically controlled power actuators differentially drive the two sets of tracks to rotate, causing the two sets of tracks to gradually turn to be perpendicular to the extension direction of the frame. Multiple lifting cylinders extend and retract, supporting the frame until the tires leave the ground. The two first electronically controlled power actuators and the two second electronically controlled power actuators drive the entire vehicle to achieve lateral movement.

2. The wheel-track combination semi-trailer tractor as described in claim 1, characterized in that, The cylinder barrel of each rocker arm cylinder is hinged to the connecting bracket, and the cylinder rod of each rocker arm cylinder is hinged to two rocker arms respectively.

3. The wheel-track combination semi-trailer tractor as described in claim 1, characterized in that, The cylinder of each lifting cylinder is fixedly connected to the bottom of the frame. The cylinder rod of each lifting cylinder moves up and down to lift and lower the frame respectively.

4. The wheel-track combination semi-trailer tractor as described in claim 3, characterized in that, Multiple lifting cylinders are respectively installed at the rear end and middle of the frame.

5. The wheel-track combination semi-trailer tractor as described in claim 1, characterized in that, The frame is a rigid frame structure welded from steel.

6. The wheel-track combination semi-trailer tractor as described in claim 1, characterized in that, Each first electronically controlled power actuator is mounted on the drive wheel of each track.

7. The wheel-track combination semi-trailer tractor as described in claim 6, characterized in that, It also includes an electronic control system, which is electrically connected to two first electronic power actuators and two second electronic power actuators, and controls multiple lifting cylinders and swing arm cylinders through electronic control valves.

8. The wheel-track combination semi-trailer tractor as described in claim 7, characterized in that, The first and second electronically controlled power actuators are traction motors or hydraulic motors.

9. The traction method for the wheel-track combined semi-trailer tractor as described in any one of claims 1 to 8, characterized in that, Includes the following steps: When the wheel-track combination semi-trailer tractor is in normal operation, the two sets of tracks are parallel to the extension direction of the frame. The electronic control system controls the two swing arm cylinders to retract through the electronic control valve, so that the two swing arms are perpendicular to the connecting bracket and parallel to the extension direction of the frame. The rotation direction of the tires is parallel to the extension direction of the frame. The two first electronic control power execution units drive the two sets of tracks to rotate at the same speed. The two second electronic control power execution units do not work, so that the tires are in a follow-up state. The whole vehicle moves forward or backward under the action of the track assembly. When the wheel-track combination semi-trailer tractor rotates and moves, the track assembly remains stationary. The electronic control system controls multiple lifting cylinders to extend and retract via electronic control valves, lifting the frame until the tires leave the ground. The two swing arm cylinders extend, causing the two swing arms to rotate at an angle greater than 90°. The lifting cylinders retract, bringing the tires into contact with the ground. The two second electronically controlled power actuators drive the tires to rotate, causing the frame to rotate in a small arc around the saddle's axis. When the wheel-track combination semi-trailer tractor performs a lateral movement, the electronic control system first controls two first electronically controlled power actuators to differentially drive two sets of tracks through electronically controlled valves, so that the two sets of tracks gradually turn to be perpendicular to the extension direction of the frame. Then, it controls multiple lifting cylinders to extend and retract, lifting the frame until the tires leave the ground. The two swing arm cylinders extend to rotate the two swing arms 90°, and the lifting cylinders retract to make the tires contact the ground. The two first electronically controlled power actuators and two second electronically controlled power actuators are activated to drive the entire vehicle to achieve lateral movement.

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