Vehicle steering system and mining dump truck

Abstract

The present invention discloses a vehicle steering system and a mining dump truck. The vehicle steering system includes a steering pump, a priority valve, a steering gear, a steering cylinder, an electronic steering wheel, an electronic control unit, and a motor. The priority valve is connected to the steering gear. The steering pump supplies oil to the steering cylinder through the priority valve and the steering gear. The electronic steering wheel is connected to the electronic control unit. The electronic control unit is used to control the operation of the motor, and the motor is used to drive the steering gear to change direction. The vehicle steering system includes an unmanned driving mode and a manual driving mode. In this vehicle steering system and mining dump truck, unmanned driving and manual driving can be achieved simultaneously.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle steering system and a mining dump truck. Background Art

[0002] A mining dump truck is a heavy-duty dump truck used in open-pit mines to complete rock and earth stripping and ore transportation tasks. Its working characteristics are short travel distance and heavy load. It is usually loaded with a large electric shovel or hydraulic shovel and travels back and forth between the mining site and the unloading site. There are many bends and slopes on the roads in the mining area. In addition to the dump trucks that transport ore, there are many other engineering vehicles that use the mining area roads at the same time. Therefore, mining dump trucks must have reliable and flexible steering performance.

[0003] At present, mining dump trucks are usually driven by people and the steering is also manually operated. However, in the harsh environment of some mines, it is not suitable for operators to work for a long time. Summary of the invention

[0004] The object of the present invention is to provide a vehicle steering system and a mining dump truck capable of realizing a manual driving mode and an unmanned driving mode at the same time.

[0005] The present invention provides a vehicle steering system, comprising a steering pump, a priority valve, a steering gear, a steering cylinder, an electronic steering wheel, an electronic control unit and a motor, wherein the priority valve is connected to the steering gear, the steering pump supplies oil to the steering cylinder through the priority valve and the steering gear, the electronic steering wheel is connected to the electronic control unit, the electronic control unit is connected to the motor for controlling the operation of the motor, the motor is connected to the steering gear for driving the steering gear to change direction, and the vehicle steering system comprises an unmanned driving mode and a manual driving mode, wherein in the unmanned driving mode, the electronic control unit is used to generate driving instructions and control the motor action according to the unmanned driving instructions; and in the manual driving mode, the electronic control unit is used to receive manual driving instructions input by the electronic steering wheel to control the motor action.

[0006] In one embodiment, the priority valve includes a priority valve oil inlet, a first priority valve oil outlet and a second priority valve oil outlet, the priority valve oil inlet is connected to the oil outlet of the steering pump, the first priority valve oil outlet is connected to the steering gear, and the second priority valve oil outlet is connected to the oil tank for oil return, and the priority valve oil inlet is selectively connected to the first priority valve oil outlet or the second priority valve oil outlet according to the position of the priority valve.

[0007] In one embodiment, the steering gear includes a steering valve and a metering motor. The motor is connected to the spool of the steering valve and the metering motor, and is used to drive the spool to move for commutation and drive the metering motor to rotate. The steering valve is used to supply oil to the first chamber or the second chamber of the steering cylinder through the metering motor according to different positions of the spool.

[0008] In one embodiment, the steering valve includes a first port, a second port, a third port, a fourth port, a fifth port, a sixth port and a seventh port. The first port is connected to the first oil outlet of the priority valve to receive the pressure oil provided by the steering pump. The second port is connected to the fuel tank to realize oil return. The third port is also connected to the control oil port of the priority valve to control the commutation of the priority valve. The fourth port and the fifth port are respectively communicated with both ends of the metering motor. The sixth port is communicated with the first chamber of the steering cylinder. The seventh port is communicated with the second chamber of the steering cylinder. The steering valve includes a first position, a second position and a third position. In the first position, the third port is communicated with the second port through a throttle orifice. In the second position, the first port is communicated with the third port and the fourth port, and the fifth port is communicated with the seventh port, and the second port is communicated with the sixth port. In the third position, the first port is communicated with the third port and the fifth port, and the fourth port is communicated with the sixth port, and the second port is communicated with the seventh port.

[0009] In one embodiment, the steering gear further includes two overload valves. One end of one overload valve is connected to the oil circuit communicated with the first chamber of the steering cylinder, and the other end is connected to the fuel tank. One end of the other overload valve is connected to the oil circuit communicated with the second chamber of the steering cylinder, and the other end is connected to the fuel tank. The steering gear further includes two oil replenishing valves. One end of the oil replenishing valve is connected to the fuel tank. One end of one oil replenishing valve is connected to the first chamber of the steering cylinder, and one end of the other oil replenishing valve is connected to the second chamber of the steering cylinder. The oil replenishing valve only allows the oil to flow from the fuel tank into the first chamber or the second chamber of the steering cylinder.

[0010] In one embodiment, the vehicle steering system further includes an angle sensor, which is used to detect the rotation angle of the electronic steering wheel and send the detected rotation angle to the electronic control unit to obtain the manual driving instruction input by the electronic steering wheel.

[0011] In one embodiment, the vehicle steering system further includes a displacement sensor configured to detect the displacement of the steering cylinder, thereby obtaining the real-time steering angle of the steering wheel and sending it to the electronic control unit. The electronic control unit compares the rotation angle of the electronic steering wheel with the real-time steering angle, and then controls the motor according to the comparison value, so as to control the amount of oil delivered by the metering motor to the steering cylinder.

[0012] In one embodiment, the vehicle steering system further includes a pressure sensor and a return torque motor. The pressure sensor is configured to detect the real-time pressures in the first chamber and the second chamber of the steering cylinder and send them to the electronic control unit. The electronic control unit is configured to obtain the rotation direction and torque signal of the steering wheel according to the real-time pressures in the first chamber and the second chamber, and control the operation of the return torque motor according to the rotation direction and torque signal of the steering wheel.

[0013] In one embodiment, the electronic control unit is further configured to adjust the proportional relationship between the rotation angle of the electronic steering wheel and the rotation angle required by the motor according to the driving speed of the vehicle.

[0014] The present invention also provides a mining dump truck including the above vehicle steering system.

[0015] In the vehicle steering system and the mining dump truck of the present invention, driverless and manual driving can be realized simultaneously, and a steer-by-wire operation steering system in the form of an electronic steering wheel - electronic control unit - motor - steering gear is adopted, which reduces the use of hydraulic valve parts, lowers costs, saves space, and has a more flexible and reliable operation method. Moreover, the mechanical connection between the steering wheel and the steering gear is cancelled, which can make the layout of the steering system more flexible, disconnect the connection between the cab and the external environment, effectively reduce the noise in the cab, and optimize the working environment of the operator; the number of turns of the electronic steering wheel can be flexibly adjusted according to different working conditions, reducing the labor intensity of the operator and improving the operation efficiency; when the vehicle is traveling at a high speed, the number of turns of the electronic steering wheel can be increased to reduce the steering sensitivity and improve the operation safety and driving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a vehicle steering system according to an embodiment of the present invention.

[0017] Figure 2 is Figure 1 a partial enlarged view of the vehicle steering system shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in conjunction with the accompanying drawings and embodiments, details the specific embodiments, structures, features, and effects of the present invention as follows.

[0019] Please refer to Figure 1 and Figure 2 In a vehicle steering system according to an embodiment of the present invention, it includes a steering pump 11, a priority valve 13, a steering gear 15, a steering cylinder 17, an electronic steering wheel 19, an electronic control unit 21 and a motor 23. The priority valve 13 is connected to the steering gear 15, and the steering pump 11 supplies oil to the steering cylinder 17 through the priority valve 13 and the steering gear 15. The electronic steering wheel 19 is connected to the electronic control unit 21, and the electronic control unit 21 is connected to the motor 23 for controlling the operation of the motor 23. The motor 23 is connected to the steering gear 15 for driving the steering gear 15 to reverse. The vehicle steering system includes an unmanned driving mode and a manual driving mode. In the unmanned driving mode, the electronic control unit 21 is used to generate a driving instruction and control the operation of the motor 23 according to the unmanned driving instruction. In the manual driving mode, the electronic control unit 21 is used to receive the manual driving instruction input by the electronic steering wheel 19 and control the operation of the motor 23.

[0020] In the vehicle steering system of this embodiment, both unmanned driving and manual driving can be realized simultaneously, and a steer-by-wire operation steering system in the form of an electronic steering wheel - electronic control unit - motor - steering gear is adopted, which reduces the use of hydraulic valve parts, lowers costs, saves space, and the operation method is more flexible and reliable. Moreover, the mechanical connection between the steering wheel and the steering gear is cancelled, which can make the layout method of the steering system more flexible and can disconnect the cab from the external environment, effectively reducing the noise in the cab and optimizing the working environment of the operator. The number of turns of the electronic steering wheel can be flexibly adjusted according to different working conditions, reducing the labor intensity of the operator and improving the operation efficiency. When the vehicle is traveling at a high speed, the number of turns of the electronic steering wheel can be increased to reduce the steering sensitivity and improve the operation safety and driving stability.

[0021] In this embodiment, the priority valve 13 includes a priority valve inlet 132, a priority valve first outlet 134 and a priority valve second outlet 136. The priority valve inlet 132 is connected to the outlet of the steering pump 11, the priority valve first outlet 134 is connected to the steering gear 15, and the priority valve second outlet 136 is connected to the fuel tank 25 for oil return. The priority valve inlet 132 is selectively communicated with the priority valve first outlet 134 or the priority valve second outlet 136 according to the position of the priority valve 13. Specifically, when the priority valve 13 is in the left position, the priority valve inlet 132 is communicated with the priority valve first outlet 134 to supply oil to the steering gear 15. When the priority valve 13 is in the right position, the priority valve inlet 132 is communicated with the priority valve second outlet 136 to realize oil return.

[0022] In this embodiment, the steering gear 15 includes a steering valve 152 and a metering motor 154. The motor 23 is connected to the spool of the steering valve 152 and the metering motor 154, and is used to drive the spool to move for commutation and drive the metering motor 154 to rotate. The steering valve 152 is used to supply oil to the first chamber 172 or the second chamber 174 of the steering cylinder 17 through the metering motor 154 according to different positions of the spool, so as to turn the wheels left or right. When the motor 23 drives the metering motor 154 to rotate, the metering motor 154 controls the oil volume output to the steering cylinder 17 through the rotation angle, realizes quantitative oil supply, and controls the corresponding steering angle.

[0023] Specifically, the steering valve 152 includes a first port 156, a second port 157, a third port 158, a fourth port 159, a fifth port 160, a sixth port 161 and a seventh port 162. The first port 156 is connected to the first oil outlet 134 of the priority valve 13 to receive the pressure oil provided by the steering pump 11. The second port 157 is connected to the fuel tank 25 to realize oil return. The third port 158 is also connected to the control oil port of the priority valve 13 to control the commutation of the priority valve 13. Specifically, the steering gear 15 further includes a relief valve 164. Both ends of the relief valve 164 are respectively connected to the third port 158 and the fuel tank 25 to realize overflow. The fourth port 159 and the fifth port 160 are respectively communicated with both ends of the metering motor 154. The sixth port 161 is communicated with the first chamber 172 of the steering cylinder 17. The seventh port 162 is communicated with the second chamber 174 of the steering cylinder 17. The steering valve 152 includes a first position, a second position and a third position. In the first position, the third port 158 is communicated with the second port 157 through a throttle port. In the second position, the first port 156 is communicated with the third port 158 and the fourth port 159, and the fifth port 160 is communicated with the seventh port 162, and the second port 157 is communicated with the sixth port 161. In the third position, the first port 156 is communicated with the third port 158 and the fifth port 160, and the fourth port 159 is communicated with the sixth port 161, and the second port 157 is communicated with the seventh port 162.

[0024] Specifically, the steering gear 15 further includes two overload valves 166. One end of an overload valve 166 is connected to the oil circuit communicating with the first chamber 172 of the steering cylinder 17, and the other end is connected to the fuel tank 25. One end of the other overload valve 166 is connected to the oil circuit communicating with the second chamber 174 of the steering cylinder 17, and the other end is connected to the fuel tank 25. In this way, when the steerable wheels are subjected to external impacts, the steering cylinder 17 can be protected. The overload valve 166 can be a relief valve. The control end of one relief valve is communicated with the first chamber 172, and the control end of the other relief valve is communicated with the second chamber 174.

[0025] Specifically, the steering gear 15 further includes two oil replenishing valves 167. One end of each oil replenishing valve 167 is connected to the fuel tank 25. The other end of one oil replenishing valve 167 is connected to the first chamber 172 of the steering cylinder 17, and the other end of the other oil replenishing valve 167 is connected to the second chamber 174 of the steering cylinder 17. The oil replenishing valve 167 only allows the oil to flow from the fuel tank 25 into the first chamber 172 or the second chamber 174 of the steering cylinder 17. Specifically, the oil replenishing valve 167 can be a one-way valve. By providing the oil replenishing valve 167, the steering cylinder 17 can be prevented from sucking air.

[0026] In this embodiment, the vehicle steering system further includes an angle sensor 27, which is used to detect the rotation angle of the electronic steering wheel 19 and send the detected rotation angle to the electronic control unit 21 to obtain the manual driving instruction (i.e., the angle that needs to be steered) input by the electronic steering wheel 19. Specifically, the angle sensor 27 is installed on the electronic steering wheel 19 and connected to the electronic control unit 21.

[0027] In this embodiment, the vehicle steering system further includes a displacement sensor 29. The displacement sensor 29 is used to detect the displacement of the steering cylinder 17, and then obtain the real-time rotation angle of the steering wheel and send it to the electronic control unit 21. The electronic control unit 21 compares the rotation angle of the electronic steering wheel 19 with the real-time rotation angle, and then controls the motor 23 according to the comparison value, so as to control the amount of oil delivered by the metering motor 154 to the steering cylinder 17, making the rotation angle of the electronic steering wheel 19 consistent with the real-time rotation angle.

[0028] In this embodiment, the vehicle steering system further includes a pressure sensor 31 and a return torque motor 33. The pressure sensor 31 is used to detect the real-time pressures of the first chamber 172 and the second chamber 174 of the steering cylinder 17 and send them to the electronic control unit 21. The electronic control unit 21 is used to obtain the rotation direction and torque signal of the steering wheel according to the real-time pressures of the first chamber 172 and the second chamber 174, and control the operation of the return torque motor 33 according to the rotation direction and torque signal of the steering wheel. The return torque motor 33 generates a force acting on the electronic steering wheel 19, enabling the driver to perceive the road conditions (such as having big stones or large pits, etc.), and improving the controllability of the equipment.

[0029] In this embodiment, the motor 23 can be a stepper motor. The angular displacement can be controlled by controlling the number of pulses, so as to achieve accurate positioning. At the same time, the rotation speed of the motor 23 can be controlled by the pulse frequency to achieve speed regulation.

[0030] In this embodiment, the vehicle steering system further includes a steering wheel and a position sensor provided on the steering wheel. The position sensor is used to detect the current actual rotation angle of the steering wheel. The electronic control unit 21 is also used to compare the rotation angle information generated according to the actual working conditions with the actual rotation angle of the steering wheel, and generate a rotation angle instruction according to the comparison result and output it to the motor 23.

[0031] In this embodiment, the electronic control unit 21 is further configured to adjust the proportional relationship between the rotation angle of the electronic steering wheel 19 and the rotation angle required by the motor 23 according to the driving speed of the vehicle, so that when the driving speed of the vehicle is relatively high, the number of turns of the electronic steering wheel can be increased, the steering sensitivity can be reduced, and the operation safety and driving stability can be improved. For example, when the driving speed of the vehicle is relatively low, when the electronic steering wheel 19 rotates one turn, the electronic control unit 21 controls the motor 23 to rotate 90°. When the driving speed of the vehicle is relatively high (for example, greater than 100 km / h, which can be set according to the situation), when the electronic steering wheel 19 rotates one turn, the electronic control unit 21 controls the motor 23 to rotate 60°.

[0032] When the vehicle steering system is working, in the manual driving mode, the driver operates the electronic steering wheel 19, and the corner sensor 27 senses the rotation angle of the electronic steering wheel 19 and sends it to the electronic control unit 21. The electronic control unit 21 processes the rotation angle information into a pulse signal corresponding to information such as the rotation direction, rotation speed, and corner, and then outputs it to the motor 23 to control the steering gear 15 to act and complete the corresponding steering target. Specifically, when the electronic steering wheel 19 is not operated, the steering valve 152 of the steering gear 15 is in the first position ( Figure 2In the middle position), the control oil port of the priority valve 13 communicates with the oil tank 25 through the second port 157 and the third port 158. The priority valve 13 is in the right position, and the pressure oil output by the steering pump 11 directly returns to the oil tank 25. When the driver turns the electronic steering wheel 19 to the right, the priority valve 13 switches to the left position, and the steering valve 152 switches to the second position. The steering pump 11 sucks oil from the oil tank 25, and the pressure oil passes through the priority valve inlet 132 and the first priority valve outlet 134 of the priority valve 13 to reach the first port 156 of the steering valve 152, and then flows into the left side of the metering motor 154 through the fourth port 159. The metering motor rotates a certain number of turns according to the rotation angle of the electronic steering wheel 19 to output a fixed amount of oil from the right side of the metering motor 154. The oil output by the metering motor 154 is output to the second chamber 174 of the steering cylinder 17 through the seventh port 162, and the steering cylinder 17 drives the steering wheel to turn to the right. The oil in the first chamber 172 of the steering cylinder 17 then flows back to the oil tank 25 through the sixth port 161 and the second port 157. When the driver turns the electronic steering wheel 19 to the left, the priority valve 13 switches to the left position, and the steering valve 152 switches to the third position. The steering pump 11 sucks oil from the oil tank 25, and the pressure oil passes through the priority valve inlet 132 and the first priority valve outlet 134 of the priority valve 13 to reach the first port 156 of the steering valve 152, and then flows into the right side of the metering motor 154 through the fifth port 160. The metering motor rotates a certain number of turns according to the rotation angle of the electronic steering wheel 19 to output a fixed amount of oil from the left side of the metering motor 154. The oil output by the metering motor 154 is output to the first chamber 172 of the steering cylinder 17 through the sixth port 161, and the steering cylinder 17 drives the steering wheel to turn to the left. The oil in the second chamber 174 of the steering cylinder 17 then flows back to the oil tank 25 through the seventh port 162 and the second port 157.

[0033] In the driverless mode, the electronic control unit 21 generates a required steering angle information according to the actual working conditions (such as road curvature, obstacle conditions, etc.), processes it into a steering angle command, and after processing the steering angle command into a pulse signal corresponding to the steering direction, steering speed, steering angle and other information, outputs it to the motor 23 to control the operation of the steering gear 15 and complete the corresponding steering target. In the driverless mode, the working processes of the priority valve 13 and the steering gear 15 are the same as those in the manual driving mode, which will not be elaborated here. At the same time, the position sensor on the steering wheel detects the actual steering angle of the steering wheel, and the electronic control unit 21 can compare the steering angle information generated according to the actual working conditions with the actual steering angle to generate a steering angle command for control.

[0034] The present invention also discloses a mining dump truck, which includes the above vehicle steering system.

[0035] The above are only the preferred embodiments of the present invention, and there is no limitation to the present invention in any form. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments of equivalent changes within the scope of the technical solution of the present invention by using the above-disclosed technical content. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A vehicle steering system, characterized in that, It includes a steering pump (11), a priority valve (13), a steering gear (15), a steering cylinder (17), an electronic steering wheel (19), an electronic control unit (21) and a motor (23). The priority valve (13) is connected to the steering gear (15). The steering pump (11) supplies oil to the steering cylinder (17) through the priority valve (13) and the steering gear (15). The electronic steering wheel (19) is connected to the electronic control unit (21). The electronic control unit (21) is connected to the motor (23) to control the operation of the motor (23). The motor (23) is connected to the steering gear (15) to drive the steering gear (15) to reverse. The vehicle steering system includes an unmanned driving mode and a manual driving mode. In the unmanned driving mode, the electronic control unit (21) is used to generate driving instructions and control the operation of the motor (23) according to the unmanned driving instructions. In the manual driving mode, the electronic control unit (21) is used to receive the manual driving instructions input by the electronic steering wheel (19) and control the operation of the motor (23). The steering gear (15) includes a steering valve (152) and a metering motor (154). The motor (23) is connected to the spool of the steering valve (152) and the metering motor (154) to drive the spool to move and reverse, and drive the metering motor (154) to rotate. The steering valve (152) is used to supply oil to the first chamber (172) or the second chamber (174) of the steering cylinder (17) through the metering motor (154) according to different positions of the spool. The electronic control unit (21) is also used to adjust the proportional relationship between the rotation angle of the electronic steering wheel (19) and the rotation angle required by the motor (23) according to the driving speed of the vehicle.

2. The vehicle steering system according to claim 1, characterized in that, The priority valve (13) includes a priority valve inlet (132), a first priority valve outlet (134) and a second priority valve outlet (136). The priority valve inlet (132) is connected to the outlet of the steering pump (11). The first priority valve outlet (134) is connected to the steering gear (15). The second priority valve outlet (136) is connected to the fuel tank (25) for oil return. The priority valve inlet (132) is selectively connected to the first priority valve outlet (134) or the second priority valve outlet (136) according to the position of the priority valve (13).

3. The vehicle steering system according to claim 2, characterized in that, The steering valve (152) includes a first port (156), a second port (157), a third port (158), a fourth port (159), a fifth port (160), a sixth port (161) and a seventh port (162). The first port (156) is connected to the first oil outlet (134) of the priority valve (13) to receive the pressure oil provided by the steering pump (11). The second port (157) is connected to the fuel tank (25) to achieve oil return. The third port (158) is also connected to the control oil port of the priority valve (13) to control the commutation of the priority valve (13). The fourth port (159) and the fifth port (160) are respectively communicated with both ends of the metering motor (154). The sixth port (161) is communicated with the first chamber (172) of the steering cylinder (17). The seventh port (162) is communicated with the second chamber (174) of the steering cylinder (17). The steering valve (152) includes a first position, a second position and a third position. In the first position, the third port (158) is communicated with the second port (157) through a throttle orifice. In the second position, the first port (156) is communicated with the third port (158) and the fourth port (159), and the fifth port (160) is communicated with the seventh port (162), and the second port (157) is communicated with the sixth port (161). In the third position, the first port (156) is communicated with the third port (158) and the fifth port (160), and the fourth port (159) is communicated with the sixth port (161), and the second port (157) is communicated with the seventh port (162).

4. The vehicle steering system according to claim 3, characterized in that, The steering gear (15) further includes two overload valves (166). One end of an overload valve (166) is connected to the oil circuit communicated with the first chamber (172) of the steering cylinder (17), and the other end is connected to the fuel tank (25). One end of the other overload valve (166) is connected to the oil circuit communicated with the second chamber (174) of the steering cylinder (17), and the other end is connected to the fuel tank (25). The steering gear (15) further includes two oil replenishing valves (167). One end of the oil replenishing valve (167) is connected to the fuel tank (25). One end of an oil replenishing valve (167) is connected to the first chamber (172) of the steering cylinder (17), and the other end of the other oil replenishing valve (167) is connected to the second chamber (174) of the steering cylinder (17). The oil replenishing valve (167) only allows the oil fluid to flow from the fuel tank (25) into the first chamber (172) or the second chamber (174) of the steering cylinder (17).

5. The vehicle steering system according to claim 3, characterized in that, The vehicle steering system further includes an angle sensor (27) for detecting the rotation angle of the electronic steering wheel (19) and sending the detected rotation angle to the electronic control unit (21) to obtain the manual driving instruction input by the electronic steering wheel (19).

6. The vehicle steering system according to claim 5, wherein, The vehicle steering system further includes a displacement sensor (29) for detecting the displacement of the steering cylinder (17), thereby obtaining the real-time steering angle of the steering wheel and sending it to the electronic control unit (21). The electronic control unit (21) compares the rotation angle of the electronic steering wheel (19) with the real-time steering angle, and then controls the motor (23) according to the comparison value, so as to control the amount of oil delivered by the metering motor (154) to the steering cylinder (17).

7. The vehicle steering system according to claim 1, characterized in that, The vehicle steering system further includes a pressure sensor (31) and a return torque motor (33). The pressure sensor (31) is used to detect the real-time pressures of the first chamber (172) and the second chamber (174) of the steering cylinder (17) and send them to the electronic control unit (21). The electronic control unit (21) is used to obtain the rotation direction and torque signal of the steering wheel according to the real-time pressures of the first chamber (172) and the second chamber (174), and control the operation of the return torque motor (33) according to the rotation direction and torque signal of the steering wheel.

8. A mining dump truck, comprising the vehicle steering system according to any one of claims 1-7.

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