1P1-L02 坑内掘り鉱山におけるフィーダ式鉱石掘削・積込装置の開発 : 1/10スケールモデルの実装と掘削・積込性能評価実験(建設・解体ロボット・メカトロニクス)

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  • 1P1-L02 Development of Feeder Type Excavator for Underground Mining : Feasibility Study of a Novel Feeder Type Excavation Machine Using a Scale Model(Robotics and Mechatronics in Construction and Demolition)

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Block caving is one of the popular methods for underground hard rock mining. In this method, two processes are mainly required, excavation at drawpoint and transportation of ore from drawpoints to ore passes. We propose an approach that excavation and transportation functions are allocated to different machines to increase productivity. The excavation machine consists of a manipulator for raking ore and a feeder for loading ore into a transporter. A one-tenth scale model is developed for a feasibility study. This scale model comprises excavator and a draw point environment. Using the model, a performance evaluation experiment has been conducted. The results reveal that the contact point of raking rotor and motion of the manipulator have large impacts on the productivity. In addition, detections of arching and large blocks are key technology to keep the high productivity of the proposed excavator.

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