Study on the mechanism of over-head-type load-haul-dump with a vessel

In this study, an over-head-type load-haul-dump (LHD) with a vessel (Advanced LHD with a Vessel: ALV) is proposed to increase the carrying capacity. As the working environment is severe for workers, especially in underground mines, unmanned LHD task is desirable. In this case, the cabin for the operator is not necessary. Therefore, overhead loading into the vessel will be possible. In this paper, a concept of ALV is proposed, and kinematics and dynamics of ALV is described. Furthermore, the experimental results by using the ALV model are also described. In order to obtain the mobility of ALV, the wheels and the articulated steering system are adopted for moving and steering. Furthermore, in order to increase the carrying capacity, a vessel is installed on the rear body. It was confirmed through the experiments that the working efficiency of ALV is higher than that of traditional LHD.