The loader,mucking machine is mainly composed of a slag scraping working device (scraping arm) and a scraper conveyor.
Among them, the scraping arm is composed of five parts connected in series, including the horizontal swing seat, the boom, the stick, the four-bar mechanism and the scraping bucket, and it is the key working part of the loader,mucking machine.
The working efficiency determines the overall working performance of the tunnel mucking machine. The dynamic analysis and modeling of the pick-up arm is necessary to complete the pick-up arm structure design and realize the pick-up arm motion control.
The pick-up arm is composed of multiple rotating joints connected in series. It is a dynamic system composed of multiple rigid bodies. It has the characteristics of nonlinearity and multiple inputs and multiple outputs. There are complex coupling relationships between various components.
In order for the pick arm to complete the intended working path. Each joint of the tunnel mucking machine/crawler mucking loader must provide a certain regular driving torque. By establishing the dynamic model of the pick-up arm manipulator. The dynamic model of the manipulator is analyzed and evaluated. It provides a data basis for obtaining reasonable structural dimensions and proper driving cylinder parameters.
