基于土力学原理的地下铲运机自主铲装过程力学特性分析

A Soil-Mechanics-Based Mechanical Analysis of the Autonomous Loading Process of Underground Load-Haul-Dumps(LHDs)

本文以某地下铲运机铲装机构为研究对象,分析了地下铲运机及铲装工作机构组成及工作原理,针对铲装过程进行分析,获得了连续且光滑的铲装轨迹曲线,基于土力学原理,建立了铲取阻力受力模型,提出了一种铲装阻力的估算方法:在铲装过程中,假定铲装阻力和铲运机的牵引力动态平衡,利用牵引力来估算铲装过程的铲装阻力。为自主铲装控制算法设计和自主铲装运行提供理论参考和技术支持,具有重要的工程应用价值。

Taking the loading mechanism of a certain underground LHD as the object of study,the article proposes a new method of calculating the loading resistance.The article first describes the composition and working principles of the loading mechanism,and then presents a loading resistance model,which was built based on soil mechanical principles and a continuous,smooth curve of the loading movement,obtained after investigating the loading process.Finally,a way of estimating the loading resistance is proposed:assuming the loading resistance and the traction by the LHD are in a dynamic balance during the loading process,the resistance can be calculated based on the traction.The article can provide theoretical reference and technical support for the algorithm design and operation of autonomous loading,hence great value of engineering application.