Research And Design Of The Working Device For The Mineral Loading Vehicle

Most mines in China are small or medium, though, the total of mineral resources is rich and full range in this country. As the blood and life of mineral economy, there exist a lot of problems in mining machines, such as irrational structure, short lifetime etc. As a kind of mining machine, mineral loading vehicle also has the same problems, which especially include being not coordinated among the efficiency, lifetime and size. In order to design a mineral loading vehicle with the features of size optimization, high efficiency and long lifetime, in this paper, the operation device of mine loading vehicle is synthetically studied from different aspects such as kinematics modeling?dynamic analysis and life evaluation.Firstly, the analyzing method of mine excavating robot is adopted to represent the mechanism of working device in the mining loading vehicle. D-H model is introduced to build the kinematic models for the operation device of mine loading vehicle. Based on these models, the kinematic equations of bucket prong are established with the homogeneous transformation formulas. Next, we can receive its motion envelope with MATLAB simulation and then put forward Some key design specifications of motion envelope for the working device are put forward via solving its motion envelope with MATLAB. Therefore, a kind of determination method for the boom size of excavating device in this special mine loading vehicle is proposed.Secondly, the dynamic equations of mine loading vehicle under a generalized coordinate system are established with the Lagrange method. A typical process of slagging is simulated with Adams software to analyze cylinder motion parameters, analyze the motion characteristics of the bucket tooth tip cylinder and compute all the support reactions of the booms.Then, the fatigue life of operation device is estimated with the nominal stress method. the boom load spectrum is obtained via simulation under the Adams environment, and then statics stress booms at certain moment is studied with Workbench software to estimate the fatigue life of boom with consideration of the load spectrum, stress results, S-N curve simultaneously.Finally, an experimental device is manufactured with a special design based on abovementioned studies. Through the experiment, this paper has got the important working range parameters and efficiency of the working device. The experimental results illustrate that all the models, methods and design of this research are reliable and feasible.