1 Introduction
2 Model of Four-Track Mining Vehicle for Cobalt-rich Crust
3 Obstacle-Crossing Analysis of Four-Track Mining Vehicle
3.1 Obstacle-Crossing Condition of the Vehicle
3.2 Mechanical Model of Four-Track Vehicle in Obstacle-Crossing Process
3.2.1 Mechanical Model of the Front Track when the Guide Wheel Contacts the Step
3.2.2 Mechanical Model of the Front Track when the Approaching Angular Contacts the Step
3.2.3 Mechanical Model of the Front Track when the Bottom of the Crawler Contacts the Step
3.2.4 Static Model of the Obstacle-Crossing when the Front Track Swing Exceeds Limit Angle
3.2.5 Mechanical Model of the Rear Track in Obstacle-Crossing Process
3.3 Solution and Analysis of Obstacle-Crossing Process of Four-Track Vehicle
Parameter name | Value |
---|---|
Vehicle weight G (N) | 38000 |
Drive wheelbase distance Hz (mm) | 716 |
Front and back track wheelbase L (mm) | 1900 |
Guide wheelbase ground distance hs (mm) | 326 |
Distance between center of gravity and front axle a (mm) | 900 |
Driving resistance coefficient f | 0.18 |
Guide wheel radius r (mm) | 180 |
Triangular track guide wheel approach angle β (°) | 38 |
Caterpillar length m (mm) | 866 |
Track overturn limitation αf (°) | 15 |