有色设备

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.