The underground loader is one of the main equipment of trackless mining in underground mines. It relies on its own movement to complete the loading and unloading of materials. Therefore, the structure and performance of the work directly affect the working size and performance parameters of the underground loader. The working design includes the structural parameter design of the linkage mechanism and the structural design of the working parts. Taking the underground loader as an example, the structural parameters of its linkage mechanism are optimized. According to the structural characteristics of the Z-type reverse six bar mechanism, the software for the optimal design of the linkage mechanism is designed and developed. Then, the multi rigid body kinematics and dynamics analysis are carried out for the work before and after the optimization, and the finite element analysis is carried out for the force condition under the static load

礦井鏟車主要用于空間狹窄的洞采作業(yè)的磷礦、鐵礦、銅礦、金礦、銀礦、鉛鋅礦、煤礦巷道等各種礦山、水電、隧道工程的碎石土料采集及輸送施工裝車。它是由機械手與輸送機相接合，扒渣和輸送裝車功能合二為一，采用電動全液壓控制系統(tǒng)的生產(chǎn)裝置，具有、能耗小、的特點。巷道裝載機是礦山企業(yè)的的設備，是人工和其它機械的替代產(chǎn)品。

The mine forklift is mainly used for the collection, transportation, construction and loading of crushed stone and soil materials in various mines, hydropower and tunnel projects such as phosphate mine, iron ore, copper mine, gold mine, silver mine, lead-zinc mine, coal mine roadway, etc. in the narrow tunnel mining operation. It is a production device that combines the manipulator and the conveyor, and integrates the slag removal and transportation and loading functions. It adopts the electric full hydraulic control system, and has the characteristics of environmental protection, low energy consumption and. Roadway loader is the equipment of mining enterprises, and it is the substitute of manual and other machinery.
 

礦用裝載機采用鉸接式車架，轉彎半徑小，便于在狹窄低矮場地作業(yè)；工作裝置經(jīng)計算機優(yōu)化設計其結構合理，具有強勁的鏟掘力和較短的作業(yè)循環(huán)時間，工作；采用液力機械傳動。能利用發(fā)動機的功率，整機具有較大的牽引力同時還能適應外界阻力變化而自動，發(fā)動機使用效率的同時傳動機件和發(fā)動機的使用壽命；采用礦用裝載機加重型變矩器和驅動橋。橋輪距窄半軸相對短，車子的扭矩，車子的掘進力了工作效率，橋的損壞率。本機窄的輪距。

The mine loader adopts an articulated frame with a small turning radius, which is convenient for operation in a narrow and low site; The working device is optimized and designed by computer, and its structure is reasonable. It has strong shoveling force and short working cycle time, and works; Hydraulic mechanical transmission is adopted. The power of the engine can be used. The whole machine has a large traction force and can adapt to the change of external resistance. The service life of the transmission parts and the engine can be increased with the service efficiency of the engine; Mining loader plus heavy torque converter and drive axle are adopted. The wheel base of the bridge is narrow and the half axle is relatively short. The torque of the vehicle and the driving force of the vehicle affect the work efficiency and the damage rate of the bridge. This machine has a narrow track.

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