A mine dump truck knuckle assembly dismounting device and a method thereof

Abstract

The application relates to a mine self-unloading truck steering knuckle assembly dismounting device and a use method thereof, which comprises a walking mechanism and a working mechanism, the walking mechanism comprises a chassis frame, a track is arranged in the chassis frame, walking wheels are arranged below the chassis frame, hydraulic outriggers are arranged on the sides of the chassis frame, an auxiliary working ladder is arranged at the front end of the chassis frame, a driving and interaction assembly is arranged at the rear end of the chassis frame, the working mechanism comprises a clamping device, a six-axis action mechanism and a pin shaft dismounting mechanism, the clamping device is in sliding connection with the chassis frame, the pin shaft dismounting mechanism is connected above the clamping device, and the six-axis action mechanism is connected behind the clamping device. The walking mechanism and the working mechanism can realize quick and automatic dismounting of the steering knuckle assembly of the mine truck, can effectively improve the operation speed, ensure the operation safety and reduce the labor intensity of workers.

Description

Technical Field

[0001] This application relates to the field of truck steering knuckle disassembly and assembly technology, and in particular to a disassembly and assembly device for a mining dump truck steering knuckle assembly and its usage method. Background Technology

[0002] In recent years, with the continuous increase in raw coal production, heavy-duty mining dump trucks, as important transportation equipment in the mining process, have been used more and more frequently. Consequently, the number of heavy components requiring replacement due to malfunctions has also increased. The number of times steering knuckle assemblies on existing large trucks need replacement and repair has increased significantly in recent years. Due to the large size and weight of steering knuckle assemblies, the limited working space, and the lack of specialized equipment for disassembly and assembly, traditional manual methods are difficult, inefficient, and pose significant safety risks. Summary of the Invention

[0003] The purpose of this application is to overcome the shortcomings of the prior art by providing a device for disassembling and assembling a steering knuckle assembly for a mining dump truck and its method of use. By setting up a traveling mechanism and a working mechanism, the device enables the rapid and automatic installation and disassembly of the steering knuckle assembly of the mining truck, which can effectively improve the operation speed, ensure operation safety, and reduce the labor intensity of workers.

[0004] According to this application, a disassembly and assembly device for a steering knuckle assembly of a mining dump truck and its method of use are proposed. The device includes a walking mechanism and a working mechanism. The walking mechanism includes a chassis frame with a track inside, wheels underneath, hydraulic outriggers on the sides, an auxiliary working ladder at the front, and a drive and interaction assembly at the rear. The working mechanism includes a clamping device, a six-axis motion mechanism, and a pin disassembly and assembly mechanism. The pin disassembly and assembly mechanism is connected above the clamping device, and the six-axis motion mechanism is connected behind the clamping device.

[0005] Preferably, the clamping device includes a clamping device frame, a center of gravity adjustment device, a wheel hub clamping claw, a clamping cylinder, a rotary drive, and a steering knuckle top support assembly. The clamping device frame is slidably connected to the center of gravity adjustment device. Both ends of the clamping device frame are connected to the steering knuckle top support assembly. Clamping cylinders are provided on both sides of the clamping device frame. The inner side of the clamping cylinder is connected to the rotary drive, and the inner side of the rotary drive is connected to the wheel hub clamping claw.

[0006] Preferably, two clamping cylinders are symmetrically arranged, two rotary drives are symmetrically arranged, and two steering knuckle support assemblies are symmetrically arranged.

[0007] Preferably, the six-axis motion mechanism includes a forward moving mechanism, a lifting mechanism, a lateral moving mechanism, a swinging mechanism, and a rotating mechanism. The forward moving mechanism is slidably connected to the chassis frame. The lifting mechanism is connected above the forward moving mechanism. The lateral moving mechanism is slidably connected to the lifting mechanism. The swinging mechanism is slidably connected to the lateral moving mechanism. The rotating mechanism is connected to the center of gravity adjustment device.

[0008] Preferably, the pin assembly / disassembly mechanism includes a moving device, a lifting device, a flipping device, an assembly / disassembly manipulator, an inner hole coaxiality measuring device, an inner hole coaxiality measuring device lifting mechanism, and a laser sensor. The moving device is fixed above the clamping device frame. The moving device is connected to the lifting device through the flipping device. The assembly / disassembly manipulator and the inner hole coaxiality measuring device lifting mechanism are slidably mounted on the lifting device. The inner hole coaxiality measuring device is connected to the inner hole coaxiality measuring device lifting mechanism, and a laser sensor is installed on the inner hole coaxiality measuring device.

[0009] Preferably, the moving device includes a slide rail and a slider. Two parallel slide rails are fixed on the clamping device frame, and a transverse slide rail is vertically arranged on the two parallel slide rails. A slider is arranged on the transverse slide rail and the slider is connected to the flipping device.

[0010] Preferably, four laser sensors are provided.

[0011] Preferably, the walking mechanism is also equipped with a laser navigation device.

[0012] Preferably, four hydraulic outriggers are provided and installed at the four corners of the chassis frame.

[0013] This application also includes a method for disassembling a steering knuckle assembly disassembly device for a mining dump truck, comprising the following steps:

[0014] S1. Quickly move the mining self-unloading truck steering knuckle assembly disassembly and assembly device to the disassembly and assembly target location;

[0015] S2. Control the six-axis motion mechanism to adjust the position and angle of the clamping device so that the hub clamping claws can accurately clamp the steering knuckle assembly hub and the tail end of the steering knuckle assembly can be pressed against the steering knuckle top support assembly to complete the clamping and fixing of the steering knuckle assembly.

[0016] S3. Adjust the position and angle of the pin assembly / disassembly mechanism so that the inner hole coaxiality measuring device corresponds to the pin position. Then drive the inner hole coaxiality measuring device lifting mechanism to lift the inner hole coaxiality measuring device to a suitable position for coaxiality testing. After the test is completed, the main pin is disassembled by the assembly / disassembly robot.

[0017] S4. The quick-moving mining self-unloading truck steering knuckle assembly disassembly and assembly device places the disassembled and assembled steering knuckle assembly in a suitable position.

[0018] Compared with the prior art, the advantages of this application are as follows:

[0019] First, the walking mechanism of this application adopts a wheeled mobile chassis, which can realize the function of rapid movement. The chassis frame is equipped with guide rails that are slidably connected to the working mechanism, making it easy to adjust the position of the working mechanism. The walking mechanism is supported by hydraulic outriggers, which effectively improves the stability of the overall device.

[0020] Secondly, the working mechanism of this application is equipped with a clamping device, a six-axis motion mechanism and a pin assembly / disassembly mechanism. The steering knuckle assembly is firmly clamped and moves smoothly. At the same time, the six-axis motion mechanism realizes six degrees of freedom adjustment of the clamping device, such as forward / backward and left / right distance movement, rotation angle or forward / backward swing. The position adjustment is precise and flexible, which can better adapt to the on-site working conditions.

[0021] Third, the pin assembly / disassembly mechanism of this application is equipped with a disassembly / disassembly robot and an internal control coaxiality measuring device, which can be adjusted freely and flexibly, enabling accurate detection of shaft hole coaxiality and rapid assembly / disassembly of the pin.

[0022] Fourth, the mining dump truck steering knuckle disassembly and assembly device of this application can realize functions such as rapid and accurate movement, precise positioning of maintenance targets, clamping and placement, and rapid disassembly, realizing full automation of the disassembly and assembly process of mining truck steering knuckle assembly, effectively improving maintenance efficiency, ensuring the safety of disassembly and assembly operations, and reducing the labor intensity of workers. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a disassembly and assembly device for a mining dump truck steering knuckle assembly proposed in this application.

[0024] Figure 2 This is a schematic diagram of the walking mechanism structure of this application.

[0025] Figure 3 This is a schematic diagram of the working mechanism structure of this application.

[0026] Figure 4 This is a schematic diagram of the clamping device structure of this application.

[0027] Figure 5 This is a schematic diagram of the six-axis motion mechanism of this application.

[0028] Figure 6 This is a schematic diagram of the pin assembly / disassembly device of this application.

[0029] Explanation of reference numerals in the attached drawings: 1-Walking mechanism, 2-Working mechanism, 3-Chassis frame, 4-Walking wheel, 5-Hydraulic outrigger, 6-Auxiliary work ladder, 7-Drive and interaction assembly, 8-Clamping device, 9-Six-axis motion mechanism, 10-Pin shaft disassembly and assembly mechanism, 11-Clamping device frame, 12-Center for gravity adjustment device, 13-Wheel hub clamping claw, 14-Clamping cylinder, 15-Rotary drive, 16-Steering knuckle top support assembly, 17-Forward movement mechanism, 18-Lifting mechanism, 19-Transverse movement mechanism, 20-Swing mechanism, 21-Rotating mechanism, 22-Moving device, 23-Lifting device, 24-Tilting device, 25-Disassembly and assembly manipulator, 26-Internal hole coaxiality measuring device lifting mechanism, 27-Internal hole coaxiality measuring device, 28-Laser sensor. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0031] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms 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 application and simplifying the description, and 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 application.

[0032] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0036] See Figures 1-6 , Figure 1This illustration shows a schematic diagram of a steering knuckle assembly disassembly and assembly device for a mining dump truck according to an embodiment of this application. The device includes a traveling mechanism 1 and a working mechanism 2. The traveling mechanism 1, located at the bottom of the entire device, supports and moves the entire device. It is wheeled and equipped with a laser navigation device to identify the steering knuckle position, enabling the entire device to move precisely to the front of the steering knuckle for subsequent operations. The traveling mechanism 1 includes a chassis frame 3, traveling wheels 4, hydraulic outriggers 5, an auxiliary working ladder 6, and a drive and interaction assembly 7. The chassis frame 3 is a portal frame structure welded from profiles and plates, used to support the entire walking mechanism 1. The chassis frame 3 has a hollow interior with rails, and four wheels 4 are installed below the chassis frame 3 to enable the movement and turning of the entire device. Four hydraulic outriggers 5 are installed at the four corners of the chassis frame 3 to improve the stability of the machine during the disassembly and assembly of the steering knuckle assembly. Two auxiliary work ladders 6 are located at the front end of the chassis frame 3, symmetrically arranged, to facilitate workers' close observation and troubleshooting at any time. The drive and interaction assembly 7 is located at the rear end of the chassis frame 3 to house the power source and the interaction interface. The power source uses a lithium battery pack to drive the hydraulic system, walking system and control system. The hydraulic system provides power to the actuators, and the movement of each joint is hydraulically driven.

[0037] The working mechanism 2, mounted on the chassis frame 3 of the traveling mechanism 1, is used for disassembling and installing the steering knuckle assembly. The working mechanism 2 includes a clamping device 8, a six-axis actuation mechanism 9, and a pin removal and installation mechanism 10. The clamping device 8 is used to clamp and place the steering knuckle assembly. The pin removal and installation mechanism 10 is connected above the clamping device 8 for removing and installing the pin. The six-axis actuation mechanism 9 is connected behind the clamping device 8 for moving and rotating the clamping device 8.

[0038] The clamping device 8 includes a clamping device frame 11, a center of gravity adjustment device 12, a hub clamping claw 13, a clamping cylinder 14, a rotary drive 15, and a steering knuckle support assembly 16. The clamping device frame 11 is a U-shaped frame used to support the various components of the clamping device 8 and connect to other mechanisms. Slider blocks are provided on both sides of the clamping device frame 11, and the sliders are slidably connected to the rails inside the chassis frame 3. The center of gravity adjustment device 12 is connected to the side wall of the clamping device frame 11 via a slide rail. The center of gravity adjustment device 12 has a U-shaped frame structure with a groove for connecting to the clamping device frame 11 and a connecting hole for connecting to the rotating mechanism 21. The center of gravity adjustment device 12 is used to adjust the entire assembly and disassembly mechanism. The center of gravity between the center of gravity and the steering knuckle assembly is adjusted to achieve overall stability. Two clamping cylinders 14 are symmetrically arranged on each side of the clamping device frame 11. Each clamping cylinder 14 is connected to a rotary drive 15, which is also symmetrically arranged. The two rotary drives 15 are connected to the left and right sides of the wheel hub clamping jaws 13, respectively. The clamping cylinders 14 drive the wheel hub clamping jaws 13 to clamp and install the wheel hub, while the rotary drives 15 rotate the wheel hub clamping jaws 13. The tilt mechanism adapts to different angles for disassembling and assembling wheel hubs. The wheel hub clamping claw 13 is installed inside the clamping device frame 11 and uses an arc-shaped claw to clamp the wheel hub of the steering knuckle assembly. It has serrations to hold the bolts on the wheel hub to prevent rotation, thus achieving clamping and fixing of the steering knuckle assembly during disassembly and assembly. Both ends of the clamping device frame 11 are connected to the steering knuckle top support assembly 16. The steering knuckle top support assembly 16 includes a connecting rod, a sliding column, a Z-shaped connector, a spring, and a pressure sensor. The Z-shaped connector is slidably connected to the sliding column. The sliding column is equipped with a spring and a pressure sensor. The sliding column is fixed to the connecting rod, and the connecting rod is fixed to the lower end of the clamping device frame 11. Two steering knuckle top support assemblies 16 are symmetrically arranged to fix the two rear corners of the steering knuckle assembly to provide support and maintain a relatively horizontal position relative to the center of the wheel hub. The steering knuckle top support assembly 16 can automatically adjust the support height according to the preset different types of steering knuckles and confirm the support status in real time through pressure sensor feedback.

[0039] The six-axis motion mechanism 9 includes a forward moving mechanism 17, a lifting mechanism 18, a lateral moving mechanism 19, a swinging mechanism 20, and a rotating mechanism 21. The forward moving mechanism 17 is mounted on the chassis frame 3 and slidably connected to it via guide rails. The lifting mechanism 18 is connected above the forward moving mechanism 17, and the lateral moving mechanism 19 is fixed to the lifting mechanism 18. The lateral moving mechanism 19 is slidably connected to the swinging mechanism 20 via guide rails. The rotating mechanism 21 is connected to the swinging mechanism 20 and is connected to a connection hole on the center of gravity adjustment device 12. The six-axis motion mechanism can control the clamping device 8 to move back and forth on the chassis frame 3 via the forward moving mechanism 17, control the lifting and lowering of the clamping device 8 via the lifting mechanism 18, control the lateral movement of the clamping device 8 via the lateral moving mechanism 19, control the left and right swinging of the clamping device 8 via the swinging mechanism 20, and control the angular rotation of the clamping device 8 via the rotating mechanism 21.

[0040] The pin assembly / disassembly mechanism 10 includes a moving device 22, a lifting device 23, a tilting device 24, an assembly / disassembly robot 25, an inner hole coaxiality measuring device lifting mechanism 26, an inner hole coaxiality measuring device 27, and a laser sensor 28. The moving device 22 consists of slide rails and a slider. Two parallel slide rails are fixed on the clamping device frame 11, and another transverse slide rail is vertically arranged on the two parallel slide rails. The transverse slide rail can move back and forth on the parallel slide rails. A slider is provided on the transverse slide rail. The slider is connected to the lifting device 23 through a flipping device 24, which is a hinge device. The lifting device 23 can move back and forth and left and right through the moving device 22, and can flip up and down through the flipping device 24. The lifting device 23 is provided with a slide groove. The disassembly and assembly robot 25 and the lifting mechanism 26 of the inner hole coaxiality measuring device are parallelly sleeved on the slide groove, so that the two can slide up and down on the lifting device 23. The disassembly and assembly robot 25 is used to disassemble and assemble the pin of the steering knuckle assembly. It is equipped with a flange. The disassembly and assembly robot 25 is connected to the pin through the flange. After connecting the pin flange to the lifting flange, the hydraulic cylinder is driven to realize the removal and installation of the pin.

[0041] The inner hole coaxiality measuring device lifting mechanism 26 is connected to the inner hole coaxiality measuring device 27, which is used to perform concentric positioning of the steering knuckle pin hole and the vehicle beam pin hole before the pin is installed, providing a reference for steering knuckle attitude adjustment and avoiding repeated blind installation of the pin; four laser sensors 28 are installed on the inner hole coaxiality measuring device 27 and are used for coaxiality detection.

[0042] When a steering knuckle assembly of a mining dump truck malfunctions and is brought in for repair, after the tires are removed, the traveling mechanism 1 of this device identifies the location of the steering knuckle assembly through a laser navigation device and quickly moves to a suitable position in front of the steering knuckle assembly. The six-axis motion mechanism 9 controls the clamping device 8 to move forward, backward, left, and right, rotate, or swing forward and backward according to the specific site conditions, so that the wheel hub clamping claw 13 accurately clamps onto the wheel hub of the steering knuckle assembly. Then, the height of the steering knuckle top support assembly 16 is adjusted so that the tail end of the steering knuckle assembly is close to the steering knuckle top support assembly 16, maintaining the overall stability of the steering knuckle assembly and completing the clamping and fixing of the steering knuckle assembly.

[0043] The drive pin assembly / disassembly mechanism 10 disassembles the steering knuckle assembly's pin. First, the mechanism adjusts the position and angle via the moving device 22, lifting device 23, and tilting device 24 to align the inner bore coaxiality measuring device with the pin. Then, the drive mechanism 26 raises the inner bore coaxiality measuring device 27 to a suitable position, and the laser sensor 28 performs coaxiality detection. After detection, the disassembly / disassembly robot 25 completes the disassembly of the main pin. Finally, the walking mechanism 1 and working mechanism 2 are controlled to place the disassembled steering knuckle assembly into its designated location.

[0044] This device can also be used for the installation of steering knuckle assemblies on mining dump trucks. First, the device is moved to the location where the steering knuckle assembly is installed. The six-axis motion mechanism 9 controls the wheel hub clamping claw 13 and the steering knuckle top support assembly 16 of the clamping device 8 to clamp and fix the steering knuckle assembly. The steering knuckle assembly is then moved to the frame position for installation. The pin shaft disassembly and assembly mechanism 10 is driven, and the disassembly and assembly robot 22 completes the gripping of the main pin shaft. The inner hole coaxiality measuring device 24 is controlled to detect the coaxiality between the steering knuckle pin shaft hole and the vehicle beam pin shaft hole. After the measurement is correct, the disassembly and assembly robot 22 is moved to complete the installation of the main pin shaft, and finally the installation of the steering knuckle assembly is completed.

[0045] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A disassembly and assembly device for a steering knuckle assembly of a mining dump truck, characterized in that, Includes walking mechanisms and working mechanisms. The walking mechanism includes a chassis frame with internal tracks, wheels underneath, hydraulic outriggers on the sides, an auxiliary work ladder at the front, and a drive and interaction assembly at the rear. The working mechanism includes a clamping device, a six-axis motion mechanism, and a pin assembly / disassembly mechanism. The pin assembly / disassembly mechanism is connected above the clamping device, and the six-axis motion mechanism is connected behind the clamping device. The clamping device includes a clamping device frame, a center of gravity adjustment device, a wheel hub clamping claw, a clamping cylinder, a rotary drive, and a steering knuckle top support assembly. The clamping device frame is slidably connected to the center of gravity adjustment device. Both ends of the clamping device frame are connected to the steering knuckle top support assembly. Clamping cylinders are provided on both sides of the clamping device frame. The inner side of the clamping cylinder is connected to the rotary drive, and the inner side of the rotary drive is connected to the wheel hub clamping claw. The six-axis motion mechanism includes a forward moving mechanism, a lifting mechanism, a lateral moving mechanism, a swinging mechanism, and a rotating mechanism. The forward moving mechanism is slidably connected to the chassis frame. The lifting mechanism is connected above the forward moving mechanism. The lateral moving mechanism is slidably connected to the lifting mechanism. The swinging mechanism is slidably connected to the lateral moving mechanism. The rotating mechanism is connected to the center of gravity adjustment device. The pin assembly / disassembly mechanism includes a moving device, a lifting device, a flipping device, an assembly / disassembly robot, an inner hole coaxiality measuring device, an inner hole coaxiality measuring device lifting mechanism, and a laser sensor. The moving device is fixed above the clamping device frame. The moving device is connected to the lifting device through the flipping device. The assembly / disassembly robot and the inner hole coaxiality measuring device lifting mechanism are slidably mounted on the lifting device. The inner hole coaxiality measuring device is connected to the lifting mechanism and is equipped with a laser sensor.

2. The disassembly and assembly device for a mining dump truck steering knuckle assembly according to claim 1, characterized in that, Two clamping cylinders are symmetrically arranged, two rotary drives are symmetrically arranged, and two steering knuckle support assemblies are symmetrically arranged.

3. The disassembly and assembly device for a mining dump truck steering knuckle assembly according to claim 1, characterized in that, The moving device includes slide rails and sliders. Two parallel slide rails are fixed on the clamping device frame, and a transverse slide rail is vertically arranged on the two parallel slide rails. A slider is arranged on the transverse slide rail, and the slider is connected to the flipping device.

4. The disassembly and assembly device for a mining dump truck steering knuckle assembly according to claim 1, characterized in that, There are four laser sensors.

5. The disassembly and assembly device for a mining dump truck steering knuckle assembly according to claim 1, characterized in that, The walking mechanism is also equipped with a laser navigation device.

6. The disassembly and assembly device for a mining dump truck steering knuckle assembly according to claim 1, characterized in that, Four hydraulic outriggers are provided and installed at the four corners of the chassis frame.

7. The disassembly method of the disassembly and assembly device according to claim 3, characterized in that, Includes the following steps, S1. Quickly move the mining dump truck steering knuckle assembly disassembly and assembly device to the disassembly and assembly target location; S2. Control the six-axis motion mechanism to adjust the position and angle of the clamping device so that the hub clamping claws can accurately clamp the steering knuckle assembly hub and the tail end of the steering knuckle assembly can be pressed against the steering knuckle top support assembly to complete the clamping and fixing of the steering knuckle assembly. S3. Adjust the position and angle of the pin assembly / disassembly mechanism so that the inner hole coaxiality measuring device corresponds to the pin position. Then drive the inner hole coaxiality measuring device lifting mechanism to lift the inner hole coaxiality measuring device to a suitable position for coaxiality testing. After the test is completed, the main pin is disassembled by the assembly / disassembly robot. S4. The quick-moving mining self-unloading truck steering knuckle assembly disassembly and assembly device places the disassembled steering knuckle assembly in a suitable position.

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