Research And Engineering Practice On Steering System Of 150T Continuous Mining Transporter

With the increasing of coal mine production concentration and the increasingly heavy mining equipment,the roadway transportation of large-scale mining machinery and related equipment has become one of the key factors restricting the high production and high efficiency of coal mines in China.150 T continuous mining equipment transporter has the advantages of large load,small turning radius,flexible steering,easy operation,etc.It satisfies the special working conditions of coal mine roadway transportation,and is playing an increasingly important role in the field of large-scale mining machinery transportation.But there are still some shortcomings such as abnormal tire wear and low steering accuracy.In this paper,the connecting rod steering mechanism and electro-hydraulic steering system of 150 T continuous mining equipment transporter are analyzed and studied in combination with the problems exposed in the field work.The main research contents are as follows:Firstly,aiming at the abnormal wear phenomenon of some tires in 150 T continuous mining equipment transporter during steering,the connecting-rod steering mechanism of the self-propelled flat car is optimized.The virtual prototype model of the connecting-rod steering mechanism is built,and the mathematical model of the actual and expected rotation angle is obtained by theoretical deduction,then the optimization objective function is created,and the optimal solution is obtained by ADAMS software.Then,the electro-hydraulic steering system of 150 T continuous mining equipment transporter is modeled and simulated.Mathematical model of main components of steering hydraulic system is built,the simulating models of variable pump,proportional multiplexing valve and connecting rod steering mechanism are created by AMESim software,and the model of the electro-hydraulic steering system in the self-propelled flat car is built.The dynamic characteristics and steering accuracy of the steering process are analyzed,and the functional realization is verified.Finally,after the assembling of 150 T continuous mining equipment transporter,the delivery tests such as test run,steering,lifting and ramp driving under no-load and full-load conditions are carried out,and the failure phenomena in the test process and practical work are analyzed,summarized and checked.The steering test of the real vehicle is designed to test the correctness of the simulation model on electro-hydraulic steering system and the correctness of the steering performance under actual conditionsThe conclusions drawn from the above research are based on the specific vehicle types,which lay a foundation for the follow-up optimization design of steering performance on the relevant vehicle types,and have good market application prospects and economic benefits.