Presentation of the

group of construction
machinery
Loaders
Loader
Front wheel loader
Body

Bucket

Boom Undercarrige
steering system
Loader under works
Loader
 Loader

Mini Ładowarki
burtowe
Skid Steer and Track Loaders Wheel Loaders
Compact Track
Loaders Telehandlers

Compact Track
Skid Steer Loaders Loaders Non-articulated
articulated loaders Loaders
Ładowarki kołowe o Kompaktowe
sterowaniu burtowym Ładowarki
gąsienicowe

Operating Weight 1500kg

capacity– 500 kg
Operating Weight 4000kg
capacity– 1300 kg
LOADERS
• Skid Steer and Compact Track Loaders
Skid Steer Loaders
attachments
Loaders
Attachments
Loaders
attachments
Loaders
attachments
Loaders
Tools
Loaders
Buckets

Power Grab High Back Bale Spike

Loaders – Underground mining

R1300G Underground Mining Loader

Loaders in KGHM – copper nad silver mine Lubin

 Loader
Articulated wheel loaders

Track loaders
Non-articulated wheel loaders
 Loader
Hydrokinetic drive - structure and
principle of operation

Diagram of the drive for Ł-34M, Ł-35 loaders:

1) engine, 2) Hydrokinetic drive (torque converter), 3 gearbox, 4) front drive axle
5) rear drive axle, 6-9 drive shafts, 10 wheels
 Track Loaders
•Medium track loaders
15Mg
•Large track loaders(20-
30 Mg)

•Track loaders for loading in ship holds and for port works
15 Mg
•Crawler loaders to work in a landfill (15-30 Mg)
LOADERS ? Telehandlers

Telescopic loaaders

telescopic handler JCB TM180

teletruk
ŁADOWARKA
The cabin is
located on the
front frame

The cabin is
located on the rear
frame
Loaders Range area
LOADRES
 LOADERS
LARGE – np. Komatsu Wa1200-3
CAT 944 H
•CAPACITY14- 35 m3
•WEIGTH -200 t

SMALL – np. Komatsu WA65-6

CAT 906 H
•Bucket Capacities1m3
•Operating Weight -4-5 t
kinematic
kinematic
 kinematic of the attachments

Wheel loader Caterpillar 924H Wheel loader Caterpillar 914G

 kinematic of the attachments

Wheel loader Caterpillar IT28B Wheel loader Liebherr L586

Wheel loader Volvo L150G

 an parallel linking system and the system Z,

 one bucket cylinder and two boom cylinders
 bucket driven by a cylinder attached to the
bottom of the arm
Loaders
Methods for filling buckets from the soil pile

a) Separate (approach and rotation)

b) Complex graduał (sequential)
c) Complex continuous
Loaders
Methods for filling buckets

a) the soil slope

b) when cutting the soil layer
 Soils

Reistance Force

FU = FU (O, N, W, K) + e (Z)

FU = Fs + F t + Fp + Fn + FH
Fs - cutting
F t - friction
Fp - drag resistance
Fn – filling resistance
FH – lifting resistance
 Optimisation criterion:
Experimental Program The total excavation work corresponding to the
Optimisation of the single digging cycle weight of the material which remained in the
a) bucket (specific excavation energy)
D C B α=30°
O'
V0 a) α=40°
M
L B
α=22° 31°
piece-wise linear
trajectories α=50°
42° A O
A K O δ
1.2
4000 W f [m]
Fx [N] h=80 mm
1 b)
3000
0.8
curvilinear trajectories

0.6
2000
22°
0.4
free boundary
31°
1000
0.2 h=120 mm
42° α [deg]
ux [mm] 0
0
0 200 400 600 800 10 20 30 40 50
Wf 1.4
[m]
Q 1.2

0.8

0.6

0.4

0.2

0
α=50° α=40° curvilinear curvilinear trajectory
α=30° OKLM
trajectory trajectory
h=120 mm h=80 mm

29
Repeatable Excavation Cycle
Repeatable excavation cycles are such
h
tool motions for which the soil free
h
boundaries before and after the digging
h
h process are similar
h h

Scheme of the single cycle

Process Parameters
and its parameters
To describe the single cycle of the working a) b)
process the following parameters was used:
 α - the slope inclination (equal to the
b
inclination of the lifting phase),
 β - the inclination of the initial phase of C C
trajectory, d
 δ - the tool inclination with respect to β
h d+a h
 h - height of the excavated material
 b - width of the excavated material. d d
B B
A b A b
a a

30
 Subsequent phases of the single cycle of digging process
a)
300
a) b) c) lx, ly, lr I II III
M M M [mm] 200

C N lx
N C N C
100 ly
lr
E 0
E
B B B
A A A -100

-200

0 20 40 60 80

Time [s]
b)
I - The translation displacement of the tool 2000 I II III
along the straight line AB was executed. Fx, Fy, Fr
[N ]
II -The tool changed its direction passing to the 1000
Fx
lifting phase. During the change of the 0 Fy
direction of the tool motion the shear band Fr

BEC was created. -1000

III -The translation of the bucket was executed -2000

to move the tip of the tool along the shear
band EC and proceed to point M. -3000

0 20 40 60 80
Time [s]

a) extension of hydraulic cylinders versus time,

b) forces versus time

31
 Specific excavation energy versus Specific excavation energy Specific excavation energy
the inclination of the initial phase of versus the area of dug-out versus the width b
trajectory material

Constant ratio b/h : 2/3

b

D'
C h
D h
h A' h'
β(−) b
B b'
A β(+) b
α α
α

1.4
1.2 Wc/Q [m]
Wc/Q [m] 1.2 1.4 Wc/Q [m]
1.0 slope α=70°
1.2
b/h =2/3 1.0 α=50°
0.8 1.0
0.8
0.6 0.8
0.6 α=70° 0.6 slope 70°
0.4 0.4
0.4 slope 50°
0.2 0.2
β° 0.2
2
cross-section of dug-out materal [mm ] b/h
0.0 0.0 0.0
-20 0 20 40 60 0 20000 40000 60000 0 2 4 6 8

32
 Experimental results for the model of an excavator bucket
Influence of teeth shape and spacing

Scheme of the excavator bucket with the set of teeth

a)
R=170
145°
19 10
44

25°

46
l/2 l l 95
b)

2 10 20
l – the spacing between teeth
w - the width of the single tooth
N – number of l – teeth spacing l/w
For example, according to ESCO teeth [mm]
(1999), which specialize in mining and 1 600 13.04
construction tooth systems, the
2 300 6.52
recommended range of the adapters
spacing l is 2.5w to 3.5w for 3 200 4.35
excavators and 3.5w to 4.7w for 4 150 3.26
loaders
5 120 2.61
6 100 2.17
33
 Subsequent stages of two processes
- without teeth - with 5 teeth (l/w=2.61; w/l= 0.383)

Horizontal force variations Work W150 for tools with different number of teeth
4000
Fx [N] c= 30 kPa
500
3000 450 W150
400 [Nm]
350 h100
2000 300 h150
250 h200
1
200
l – the spacing
1000 3
150 w/l [-] between teeth
5 x [mm] 100 w - the width of
0 0 0.1 0.2 0.3 0.4 0.5
0 200 400 600 800
the single tooth
34
 Horizontal force variations for different
3000
number of teeth. 4000
5000
Fx [N] c= 45 kPa
Fx [N] Fx [N] c= 30 kPa
c= 15 kPa 4000
3000
2000 3000

2000 2000
1
1000 1
1 1000 3
3
1000 3 5
5 5 x [mm]
x[mm] x [mm] 0
0 0
0 200 400 600 800
0 200 400 600 800 0 200 400 600 800

Influence of the teeth wearing

a) 3000
Fx [N] c=15 kPa c) 7000 Fx [N]
c=45 kPa
6000

5000
2000
4000

3000
1000
2 mm 2000
2 mm
10 mm
1000 10 mm
20 mm x [mm]
0 20 mm x [mm]
0
0 200 400 600 800 0 200 400 600 800

Horizontal force variations for the tool with 5 teeth

and different stages of teeth wearing and different soil density.
35
 Horizontal and vertical force variations for the tool with one wide tooth for
different stages of tools wearing and different soil densities.

Fx [N] c=15 kPa 9000 c=45 kP a

4000 Fx [N] 2 mm
8000
10 mm
7000
3000 20 mm
6000
5000
2000 4000
3000
1000 2000
2 mm x [mm]
10 mm 1000
x [mm]
20 mm
0 0
0 200 400 600 800 0 200 400 600 800 1000

1000 Fy [N]
2500 Fy [N] c=45 kP a
2 mm
2000 10 mm
500
1500 20 mm
x [mm] 1000
0
0 200 400 600 800 500 x [mm]
-500 0
-500 0 200 400 600 800 1000
-1000 -1000
2 mm -1500
-1500 10 mm -2000
20 mm -2500
-2000 -3000

36
Loaders
loader
Driving speeds

35,61 km/godz.
42,73 km/godz.
loaders
Work cycles

articulated wheel loader

wheel loader

track loader