Steering electric drive axle device for coal mine anti-explosion intelligent chassis

Abstract

The invention belongs to the technical field of vehicle drive axles. The steering electric drive axle device for the coal mine anti-explosion intelligent chassis aims at solving the problems that an existing electric drive axle is heavy, consequently, power consumption is high, and the requirement for automatic driving control precision cannot be met. The device comprises an axle body, an electric control driving system, an electric control steering system, an electric control braking system and an axle domain controller, wherein two ends of the axle body are connected with wheel assemblies; the electric control driving system comprises an explosion-proof high-speed permanent magnet synchronous motor, a traction motor controller and a high-speed central difference speed reducer; the electric control steering system comprises a driving component and a transmission component; the axle domain controller receives the desired signal and compares the desired signal to the actual signal to adjust the speed, angle, and braking force. Through integration of electric control driving, steering and braking, a complete electric control function is achieved, closed-loop control is achieved, the requirement for automatic driving control precision is met, compact arrangement is achieved through modular design, and the weight of the whole machine is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle drive axles, and in particular relates to a steering electric drive axle device for an explosion-proof intelligent underframe of a coal mine. Background Art

[0002] Due to the complex and changeable conditions of mine road surface, many potholes and water accumulation, and the narrow and long existing mine tunnels, the special working conditions have high requirements on the volume and body size of underground transport vehicles, and also have high requirements on the passing ability and power performance of underground transport vehicles. It is necessary for underground transport vehicles to develop towards electrification, intelligence and unmanned operation, among which the core component, the electric drive axle, needs to develop towards modularization and integration.

[0003] However, traditional mine-used drive steering axles are usually driven by explosion-proof diesel engines, and the steering and braking functions rely on the on-board hydraulic system to provide power, and require human intervention to achieve related operations, and do not have electronic control functions. Underground transportation vehicles have relatively heavy daily transportation tasks, and electric drive vehicles need to consider the cruising range and power consumption, which requires electric drive axles to be light and efficient. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a steering electric drive axle device for a coal mine explosion-proof intelligent chassis that is lightweight and meets the requirements of automatic driving control accuracy.

[0005] The present invention provides a steering electric drive bridge device for a coal mine explosion-proof intelligent chassis, comprising a bridge body, both ends of which are connected to wheel assemblies, and further comprising:

[0006] An electric control drive system, which is arranged on the bridge body, and includes a flameproof high-speed permanent magnet synchronous motor, a traction motor controller and a high-speed central differential reducer, wherein the output end of the traction motor controller is connected to the input end of the flameproof high-speed permanent magnet synchronous motor, the output end of the flameproof high-speed permanent magnet synchronous motor is connected to the input end of the high-speed central differential reducer, and the two output ends of the high-speed central differential reducer are respectively connected to the two wheel assemblies through two half shafts;

[0007] An electronically controlled steering system, the electronically controlled steering system comprising a drive assembly and a transmission assembly, the drive assembly being integrated on the bridge body and one end of which is connected to the transmission assembly, the transmission assembly being connected to the wheel assembly via a steering knuckle, the drive assembly driving the transmission assembly to move so as to realize the swing of the wheel assembly;

[0008] An electronically controlled braking system, the electronically controlled braking system comprising a service brake and a parking brake, the parking brake being electrically connected to the high-speed central differential reducer, the parking brake being able to release or start the braking state by switching the power on and off, the service brake being connected to the wheel assembly to realize electronically controlled braking during driving;

[0009] An axle domain controller is arranged on the bridge body. The electronically controlled drive system, the electronically controlled steering system and the electronically controlled braking system are all provided with sensor components. The sensor components monitor actual signals of speed, steering angle and braking force. The axle domain controller is used to receive expected signals of speed, steering angle and braking force. The axle domain controller adjusts the speed in the electronically controlled drive system, the steering angle in the electronically controlled steering system and the braking force in the electronically controlled braking system according to the difference between the actual signal and the expected signal.

[0010] Optionally, the driving assembly includes a steering electric cylinder, an explosion-proof servo motor and a reducer, the steering electric cylinder includes a cylinder barrel and a cylinder rod, and the transmission assembly includes a steering tie rod, a steering crank and an axle swing arm;

[0011] The steering electric cylinder and the explosion-proof servo motor are integrated into a modular structure, the explosion-proof servo motor is connected to the reducer, one end of the cylinder rod is connected to one end of the steering crank, the other end of the steering crank is connected to one end of the steering tie rod, the other end of the steering tie rod is connected to the axle swing arm, the axle swing arm is arranged on the steering knuckle, the explosion-proof servo motor drives the cylinder rod to perform reciprocating linear motion, so as to drive the steering crank to perform circular motion around the connection with the cylinder rod, thereby driving the steering tie rod and the axle swing arm to swing, so as to realize the steering of the wheel assembly.

[0012] Optionally, the sensor assembly includes an intrinsically safe displacement sensor and three intrinsically safe position sensors, the intrinsically safe displacement sensor is arranged on the cylinder barrel to feed back the stroke of the cylinder rod to the axle domain controller, and the three intrinsically safe position sensors are evenly arranged on the cylinder rod along the axial direction of the cylinder rod to monitor the position of the cylinder rod relative to the cylinder barrel.

[0013] Optionally, the sensor assembly further includes an intrinsically safe torque sensor, and the intrinsically safe torque sensor is disposed on the steering cylinder to monitor the thrust applied to the steering cylinder.

[0014] Optionally, the sensor assembly further includes two intrinsically safe rotation angle sensors, which are respectively arranged on the two steering knuckles to monitor the rotation angle of the wheel assembly.

[0015] Optionally, the sensor assembly also includes two intrinsically safe speed sensors, which are respectively arranged on the two half-shafts, and both half-shafts are provided with splines, and are in magnetic contact with the splines to convert the switching signal generated by the contact into an actual speed signal and transmit it to the axle domain controller.

[0016] Optionally, the sensor assembly further includes an intrinsically safe temperature sensor and an intrinsically safe pressure sensor disposed on the service brake to monitor the temperature and pressure inside the service brake.

[0017] Optionally, a suspension system is also included, and the suspension system is arranged at both ends of the bridge body to be connected to the frame.

[0018] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0019] The steering electric drive axle device for the explosion-proof intelligent underframe of coal mines provided in the embodiment of the present invention completes the driving, steering and braking functions of the vehicle through the transmission of electrical signals, has complete electronic control functions, and correspondingly arranges sensors in the execution system, so that the vehicle speed, turning angle and braking force can be adjusted at any time, realizing closed-loop control, meeting the requirements of automatic driving control accuracy, and providing hardware guarantee for the realization of unmanned driving technology; at the same time, the modular design of the drive axle realizes a compact layout, so as to achieve the purpose of reducing the weight of the whole machine, reducing the failure links, improving efficiency and increasing the endurance, thereby improving the applicability of vehicles using this electric drive axle device, and can be suitable for narrow and long mine tunnels and special working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0021] 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, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 This is a control flow chart of the steering electric drive axle device for the coal mine explosion-proof intelligent chassis according to an embodiment of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the steering electric drive axle device for coal mine explosion-proof intelligent chassis according to an embodiment of the present invention at a first viewing angle;

[0024] Figure 3It is a structural schematic diagram of the steering electric drive axle device for coal mine explosion-proof intelligent chassis according to an embodiment of the present invention at a second viewing angle;

[0025] Figure 4 It is a structural schematic diagram of the steering electric drive axle device for the coal mine explosion-proof intelligent underframe according to an embodiment of the present invention at a third viewing angle.

[0026] Among them, 1. bridge body; 2. wheel assembly; 3. flameproof high-speed permanent magnet synchronous motor; 4. high-speed central differential reducer; 5. parking brake; 6. steering electric cylinder; 601. cylinder barrel; 602. cylinder rod; 7. explosion-proof servo motor; 8. reducer; 9. steering rod; 10. steering crank; 11. axle swing arm; 12. intrinsically safe angle sensor; 13. intrinsically safe speed sensor; 14. suspension system; 15. connectors. DETAILED DESCRIPTION

[0027] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0028] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0029] Reference Figures 1 to 4 As shown, this embodiment provides a steering electric drive axle device for a coal mine explosion-proof intelligent underframe, including a bridge body 1, with wheel assemblies 2 connected at both ends of the bridge body 1, and also includes an electronically controlled drive system, an electronically controlled steering system, an electronically controlled braking system and an axle domain controller.

[0030] Among them, refer to Figure 2 and Figure 4As shown, the electronically controlled drive system is arranged on the bridge body 1, including a flameproof high-speed permanent magnet synchronous motor 3, a traction motor controller and a high-speed central differential reducer 4. The output end of the traction motor controller is connected to the input end of the flameproof high-speed permanent magnet synchronous motor 3, the output end of the flameproof high-speed permanent magnet synchronous motor 3 is connected to the input end of the high-speed central differential reducer 4, and the two output ends of the high-speed central differential reducer 4 are respectively connected to the two wheel assemblies 2 through two half-axles. Specifically, the flameproof high-speed permanent magnet synchronous motor 3, the traction motor controller and the high-speed central differential reducer 4 are integrated and installed on the bridge body 1, saving installation space. The high-speed central differential reducer 4 is provided with a differential, which makes the left and right wheel assemblies 2 have a speed difference, thereby realizing the vehicle turning. The wheel assembly 2 is provided with a wheel-side planetary reducer, which drives the flameproof high-speed permanent magnet synchronous motor 3, transmits power to the high-speed central differential reducer 4, and then transmits it to the wheel-side planetary reducer for speed reduction and torque increase, and then transmits it to the wheel assembly 2, realizing two-stage deceleration, so that the wheel assembly 2 can generate a larger driving force under the reaction of the ground adhesion, thereby reducing the load on the high-speed central differential reducer 4 and half-axles in front of the wheel-side planetary reducer, improving the safety of vehicle driving, and at the same time, it can also make the half-axle size smaller, reducing the overall weight of the electric drive bridge.

[0031] Reference Figure 2As shown, the electronically controlled steering system includes a drive assembly and a transmission assembly. The drive assembly is integrated on the bridge body 1, and one end of the drive assembly is connected to the transmission assembly. The transmission assembly is connected to the wheel assembly 2 through a steering knuckle. The drive assembly drives the transmission assembly to move to realize the swing of the wheel assembly 2. Among them, the driving component includes a steering electric cylinder 6, an explosion-proof servo motor 7 and a reducer 8. The steering electric cylinder 6 includes a cylinder barrel 601 and a cylinder rod 602. The transmission component includes a steering tie rod 9, a steering crank 10 and an axle swing arm 11. The steering electric cylinder 6 and the explosion-proof servo motor 7 are integrated into a modular structure. The steering electric cylinder 6 is connected to the bridge body 1 through a connecting piece 15, and the explosion-proof servo motor 7 is connected to the reducer 8. One end of the cylinder rod 602 is connected to one end of the steering crank 10, and the other end of the steering crank 10 is connected to one end of the steering tie rod 9, and the other end of the steering tie rod 9 is connected to the axle swing arm 11. The axle swing arm 11 is arranged on the steering knuckle. The explosion-proof servo motor 7 is driven to drive the cylinder rod 602 to perform reciprocating linear motion, so as to drive the steering crank 10 to perform circular motion around the connection with the cylinder rod 602, thereby driving the steering tie rod 9 and the axle swing arm 11 to swing, thereby realizing the steering of the wheel assembly 2. Specifically, the steering crank 10 is connected to the cylinder rod 602 through a fixed shaft, and the explosion-proof servo motor 7 drives the cylinder rod 602 to perform reciprocating linear motion, so that the fixed shaft moves with the cylinder rod 602, and the steering crank 10 performs circular motion around the end of the fixed shaft. The steering crank 10 pulls the steering rod 9 to swing on the bridge body 1, and the steering rod 9 further transmits the torque to the steering knuckle and the axle arm 11 installed on the steering knuckle, and finally transmits it to the wheel assembly 2 to realize the steering of the vehicle. This electronic steering system adopts pure electric control, does not require human intervention, and meets the conditions of automatic driving. Of course, the steering electric cylinder 6 can use a planetary roller screw type electric cylinder and do explosion-proof treatment.

[0032] Reference Figure 4 As shown, the electric control braking system includes a service brake and a parking brake 5. The parking brake 5 is electrically connected to the high-speed central differential reducer 4. The parking brake 5 can release or start the braking state by turning the power on and off. The service brake is connected to the wheel assembly 2 to realize electric control braking during driving. Specifically, the parking brake 5 is a normally closed explosion-proof parking electromagnetic brake with a compact structure and simple operation. The parking brake 5 adopts an electromagnetically released safety braking method. The parking brake 5 can release the braking state after being energized. After power failure, the parking brake 5 will actively lock to ensure braking safety. The service brake is connected to the wheel-side planetary reducer and is composed of an electro-hydraulic proportional valve and a normally open wet brake. The pressure of the braking system is adjusted by electro-hydraulic proportional control technology to achieve electric control braking during driving. Each wheel assembly 2 is provided with a service brake. In this device, the two wheel assemblies 2 share a high-speed central differential reducer 4 and a parking brake 5. Compared with providing a high-speed central differential reducer 4 and a parking brake 5 on each of the two wheel assemblies 2, the cost is reduced and the overall weight of the electric drive axle device is reduced.

[0033] This device integrates the electric drive axle assembly to realize the integration of electronic drive, electronic steering and electronic braking on the drive axle, which is equivalent to a complete electronic control assembly. This makes the electric drive axle device have complete electronic control functions and provides hardware guarantee for the realization of unmanned driving technology.

[0034] Reference Figure 1 As shown, the axle domain controller is arranged on the bridge body 1, and the electronically controlled drive system, the electronically controlled steering system and the electronically controlled braking system are all provided with sensor components, which monitor the actual signals of speed, steering angle and braking force, and the axle domain controller is used to receive the expected signals of speed, steering angle and braking force. The axle domain controller adjusts the speed in the electronically controlled drive system, the steering angle in the electronically controlled steering system and the braking force in the electronically controlled braking system according to the difference between the actual signal and the expected signal.

[0035] Specifically, the sensor assembly includes an intrinsically safe displacement sensor and three intrinsically safe position sensors. The intrinsically safe displacement sensor is arranged on the cylinder barrel 601 to feed back the stroke of the cylinder rod 602 to the axle domain controller. The stroke of the cylinder rod 602 corresponds to the turning angle of the wheel assembly 2 when the vehicle turns. The axle domain controller can receive this corresponding signal as the control basis of the axle domain controller. The three intrinsically safe position sensors are evenly arranged on the cylinder rod 602 along the axial direction of the cylinder rod 602, that is, the middle and the extreme positions of the two ends of the cylinder rod 602 to monitor the position of the cylinder rod 602 relative to the cylinder barrel 601. When the cylinder rod 602 is in these three positions relative to the cylinder barrel 601, the wheel assembly 2 has corresponding states, wherein the wheel assembly 2 is returned to the center when the cylinder rod 602 is in the middle position relative to the cylinder barrel 601, and the three position signals corresponding to the states of the wheel assembly 2 are fed back to the axle domain controller as the control basis of the axle domain controller.

[0036] In some embodiments, the sensor assembly also includes an intrinsically safe torque sensor, which is arranged on the steering cylinder 6 to monitor the thrust applied to the steering cylinder 6. The vehicle to which this electric drive axle device is applied is used to pull cargo. The intrinsically safe torque sensor feeds back the thrust signal of the steering cylinder 6 to the axle domain controller to obtain the relationship between the thrust and the load, so that the vehicle can be suitable for different road surfaces.

[0037] The sensor assembly also includes two intrinsically safe angle sensors 12, which are respectively arranged on two steering knuckles to monitor the angle of the wheel assembly 2. The two intrinsically safe angle sensors 12 can monitor the actual angle of the two wheel assemblies 2 and provide feedback to the axle domain controller, adjust the angle value according to the difference between the actual angle signal and the expected angle signal, and input the adjusted angle into the explosion-proof servo motor controller, start the explosion-proof servo motor 7 and the reducer 8 to drive the cylinder rod 602 to perform reciprocating linear motion, and the steering crank 10 to perform circular arc motion around the end of the fixed axis. The steering crank 10 pulls the steering rod 9 to swing on the bridge body 1, and the steering rod 9 further transmits the torque to the steering knuckle and the axle swing arm 11 installed on the steering knuckle, and finally transmits it to the wheel assembly 2 to realize the steering of the vehicle.

[0038] In other embodiments, the sensor assembly further includes two intrinsically safe speed sensors 13, which are respectively arranged on two half-axes, both of which are provided with splines and are in magnetic contact with the splines, so as to convert the switch signal generated by the contact into an actual speed signal, and transmit it to the axle domain controller, wherein the intrinsically safe speed sensor 13 is a Hall sensor, and when the vehicle is moving, the half-axle rotates, and the intrinsically safe speed sensor 13 generates a magnetic contact with the splines on the half-axle to form a switch signal, and the generated switch signal is converted into a pulse signal that can be collected by the single-chip microcomputer through a photoelectric coupler, and the single-chip microcomputer generates a pulse signal that can be collected by the single-chip microcomputer. The microcontroller calculates the number of pulses generated within a fixed time, and can infer the vehicle running speed value. The two intrinsically safe speed sensors 13 can obtain the actual speeds of the two wheel assemblies 2 respectively by monitoring the speeds of the two half-axles, and feed them back to the axle domain controller. The speed value of the wheel assembly 2 is adjusted according to the difference between the actual speed signal and the expected speed signal, and the adjusted speed is transmitted to the traction motor controller to control the flameproof high-speed permanent magnet synchronous motor 3, and the power is transmitted to the high-speed central differential reducer 4 and the half-axles, and then transmitted to the wheel assembly 2 through the wheel-side planetary reducer to drive the wheel assembly 2.

[0039] The increase in brake temperature will cause the friction coefficient between the brake disc and the brake shoe to decrease, making the braking distance longer, thereby increasing the braking distance of the vehicle and causing safety hazards. Therefore, this electronically controlled drive axle device is also provided with an intrinsically safe temperature sensor and an intrinsically safe pressure sensor, which are specifically arranged on the service brake to monitor the temperature and pressure in the service brake, and feed back the actual temperature and actual pressure to the axle domain controller. When the brake pressure and brake temperature exceed the threshold, the axle domain controller will issue a parking command for safety. The axle domain controller adjusts the braking force according to the difference between the actual signal and the expected signal and transmits it to the electro-hydraulic system controller. The electro-hydraulic system controller controls the intrinsically safe electromagnetic switch valve to achieve parking braking through the normally closed flameproof parking electromagnetic brake. The electro-hydraulic system controller controls the electro-hydraulic proportional valve to achieve service braking through the normally open wet brake. The electro-hydraulic system controller controls the oil pump motor controller to provide hydraulic power for the electronically controlled braking system through the flameproof oil pump motor.

[0040] Of course, refer to Figure 3 As shown, the electric drive bridge device further includes a suspension system 14, which is disposed at both ends of the bridge body 1 to be connected to the vehicle frame.

[0041] This electric drive axle device completes the vehicle's driving, steering and braking functions through the transmission of electrical signals. It has complete electronic control functions and corresponding sensors are set in the execution system, so that the vehicle speed, turning angle and braking force can be adjusted at any time, realizing closed-loop control, meeting the requirements of automatic driving control accuracy, and providing hardware guarantee for the realization of unmanned driving technology. At the same time, the modular design of the drive axle realizes a compact layout, achieving the purpose of reducing the weight of the whole machine, reducing failure links, improving efficiency and increasing endurance, thereby improving the applicability of vehicles using this electric drive axle device and being suitable for narrow and long mine tunnels and special working conditions.

[0042] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A steering electric drive bridge device for a coal mine explosion-proof intelligent chassis, comprising a bridge body (1), with wheel assemblies (2) connected to both ends of the bridge body (1), characterized in that: Also includes: An electric control drive system, the electric control drive system is arranged on the bridge body (1), and comprises a flameproof high-speed permanent magnet synchronous motor (3), a traction motor controller and a high-speed central differential reducer (4), the output end of the traction motor controller is connected to the input end of the flameproof high-speed permanent magnet synchronous motor (3), the output end of the flameproof high-speed permanent magnet synchronous motor (3) is connected to the input end of the high-speed central differential reducer (4), and the two output ends of the high-speed central differential reducer (4) are respectively connected to the two wheel assemblies (2) through two half shafts; An electronically controlled steering system, the electronically controlled steering system comprising a drive assembly and a transmission assembly, the drive assembly being integrated on the bridge body (1) and having one end connected to the transmission assembly, the transmission assembly being connected to the wheel assembly (2) via a steering knuckle, the drive assembly driving the transmission assembly to move so as to achieve the swinging of the wheel assembly (2); An electric control braking system, the electric control braking system comprising a service brake and a parking brake (5), the parking brake (5) being electrically connected to the high-speed central differential reducer (4), the parking brake (5) being able to release or start the braking state by switching the power on and off, the service brake being connected to the wheel assembly (2) to realize electric control braking during driving; An axle domain controller, the axle domain controller is arranged on the bridge body (1), the electronically controlled drive system, the electronically controlled steering system and the electronically controlled braking system are all provided with sensor components, the sensor components monitor actual signals of speed, turning angle and braking force, the axle domain controller is used to receive expected signals of speed, turning angle and braking force, and the axle domain controller adjusts the speed of the electronically controlled drive system, the turning angle of the electronically controlled steering system and the braking force of the electronically controlled braking system according to the difference between the actual signal and the expected signal.

2. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 1 is characterized in that: The driving assembly comprises a steering electric cylinder (6), an explosion-proof servo motor (7) and a reducer (8); the steering electric cylinder (6) comprises a cylinder barrel (601) and a cylinder rod (602); and the transmission assembly comprises a steering tie rod (9), a steering crank (10) and an axle swing arm (11); The steering electric cylinder (6) and the explosion-proof servo motor (7) are integrated into a modular structure. The explosion-proof servo motor (7) is connected to the reducer (8). One end of the cylinder rod (602) is connected to one end of the steering crank (10). The other end of the steering crank (10) is connected to one end of the steering tie rod (9). The other end of the steering tie rod (9) is connected to the axle swing arm (11). The axle swing arm (11) is arranged on the steering knuckle. The explosion-proof servo motor (7) drives the cylinder rod (602) to perform reciprocating linear motion, so as to drive the steering crank (10) to perform circular motion around the connection with the cylinder rod (602), thereby driving the steering tie rod (9) and the axle swing arm (11) to swing, thereby realizing the steering of the wheel assembly (2).

3. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 2 is characterized in that: The sensor assembly comprises an intrinsically safe displacement sensor and three intrinsically safe position sensors. The intrinsically safe displacement sensor is arranged on the cylinder barrel (601) to feed back the stroke of the cylinder rod (602) to the axle domain controller. The three intrinsically safe position sensors are evenly arranged on the cylinder rod (602) along the axial direction of the cylinder rod (602) to monitor the position of the cylinder rod (602) relative to the cylinder barrel (601).

4. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 2 is characterized in that: The sensor assembly also includes an intrinsically safe torque sensor, which is arranged on the steering electric cylinder (6) to monitor the thrust applied to the steering electric cylinder (6).

5. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 1 is characterized in that: The sensor assembly further comprises two intrinsically safe rotation angle sensors (12), wherein the two intrinsically safe rotation angle sensors (12) are respectively arranged on the two steering knuckles to monitor the rotation angle of the wheel assembly (2).

6. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 1 is characterized in that: The sensor assembly also includes two intrinsically safe speed sensors (13), which are respectively arranged on the two half-shafts, and both half-shafts are provided with splines, and are in magnetic contact with the splines to convert the switch signal generated by the contact into an actual speed signal, and transmit it to the axle domain controller.

7. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 1 is characterized in that: The sensor assembly further includes an intrinsically safe temperature sensor and an intrinsically safe pressure sensor disposed on the service brake to monitor the temperature and pressure within the service brake.

8. The steering electric drive axle device for coal mine explosion-proof intelligent chassis according to claim 1 is characterized in that: It also includes a suspension system (14), which is arranged at both ends of the bridge body (1) to be connected to the vehicle frame.

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