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By A Giblett, M Daniel

"The Global Mining Standards and Guidelines Group (GMSG) currently supports nine individual industry working groups focused on developing standards and guidelines for the mining industry. In 2013 the GMSG established the Industrial Comminution Efficiency (ICE) working group to develop freely available guidelines for plant operators to quantify the operating efficiency of industrial comminution circuits. This initiative has engaged a diverse group of representatives from mining companies, equipment vendors, consultants and metallurgical laboratories with vast experience and capabilities in the field of comminution. The GMSG has issued the first two guidelines from the ICE working group in 2015–2016, with the third guideline having completed the approvals process and being in the final stages of editing ahead of release later in 2016.Two of the ICE guidelines present methods to quantify comminution circuit efficiency, and a complementary guideline describes best practice methods to collect the necessary samples and data to furnish these assessments. Collectively the guidelines cover sampling, survey data collection, laboratory testing procedures and calculation processes to allow the user to generate a relative circuit efficiency factor for the comminution circuit at the time of survey. The reference energy consumption is calculated considering the measured F80, P80 and ore strength at the time of survey, using either or both of the Bond or Morrell methods presented in GMSG guidelines dedicated to each method. The guidelines consequently provide the end user with practical tools to perform circuit efficiency analysis and to readily quantify the impact of optimisation efforts.This paper presents the content of the three ICE guidelines and describes their intended application.Citation:Giblett, A and Daniel, M, 2016. Global Mining Standards and Guidelines for Determining Comminution Circuit Efficiency, in Proceedings 13th AusIMM Mill Operators’ Conference 2016, pp 3–8 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Oct 10, 2016

By M Scoble

This paper addresses the importance of collaborative approaches to resolving future mining challenges. It attempts to provide some insight into understanding the theory, measurement, mapping and management of collaboration. This is related to the design and planning for successful research and educational initiatives. Reference is made to Canadian and global case studies and personal experiences.

Nov 22, 2011

By D Misra, R Ganguli, S Bandopadhyay

The objective of this paper is to assess the accuracy and applicability of recent state-of-art methods such as the machine learning algorithms (MLA) for mineral resource estimation. Conventional methods such as geostatistics have been predominantly used in the mining industry for this purpose with varying success. Recent advances in the use of MLA have provided a fresh approach to obtain improved accuracy in the estimation of mineral resources. Two MLA methods: the neural network (NN) and the support vector machine (SVM) have been used to estimate a polymetallic ore deposit in Alaska.The general characteristic of SVM and NN emphasises the fact that they can approximate any multivariate non-linear relation among variables. Although neural network models are able to capture the nonlinear spatial relationships that may be present in the data, they are usually difficult to optimise under sparse data settings. Of the various NN alternatives, despite their effectiveness, the model selection and estimation process is typically difficult as it involves solving complex integration and optimisation of parameters. In support vector modelling (SVM), estimating of parameters involves optimisation of a convex cost function. The working principle of SVM makes it robust against noisy and extreme value data. At the same time, it can capture the spatial distribution of ore grade more effectively with careful modelling and selection of SVM parameters.The outcome of the MLA methods were compared to those of the geostatistical ordinary kriging (OK) application to study their generalisation ability. The comparison was made using the following goodness of fit criteria: mean-squared error; mean absolute error; mean error; and coefficient of determination. The results indicated that the MLA methods may improve the predictability of ore deposits and thereby reduce the inherent risk in mineral resource estimation.

Sep 26, 2011

By A Dal-Corobbo

Traditional acid and metalliferous drainage (AMD) wastewater treatment focuses on the iron co-precipitation/adsorption process as this is a very effective method of reducing heavy metals, including copper, lead, zinc, arsenic, etc, to parts per billion (ppb) levels in AMD wastewater streams. One of the drawbacks to this method however is the large volume of sludge produced and subsequent disposal costs for the mine site concerned.A proprietary metals treatment system called high density sludge (denoted HDS) which significantly reduces the quantity of waste generated is described in this paper. This process generates a dewatered sludge that contains in the order of 50 to 55 per cent solids. This sludge is denser than conventionally dewatered sludge, which typically contains only 20 to 30 per cent solids. This advanced process has a wide range of applications and can be easily retrofitted into existing AMD treatment systems. It has been successfully installed at several mine sites to treat AMD wastewaters. This paper discusses the high density sludge process, its benefits and provides data and operating results from pilot test installations.CITATION:Dal-Corobbo, A, 2013. High-density sludge process for treating metal bearing acid and metalliferous drainage wastewaters, in Proceedings Water in Mining 2013 , pp 217-220 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 26, 2013

By Westcott PC

The development of a coal project must pass through a number of phases, taking it from a preliminary evaluation through to detailed mine planning. For each phase the cost of data acquisition and associated mining studies increases exponentially for linear improvement in confidence levels. Within each mine planning phase there are four main activities. These are the economic ordering of reserves, the development of optimum mining strategies, mine design and scheduling and finally the estimation and analysis of costs. The development of the optimum mining strategy is one of the most critical aspects of a mining evaluation and the application of economic criteria at this stage of the project is vital to the successful generation of an optimised mine design. A recommended method is the concept of Economic Ratio (ER) which expresses the likely cost of mining from a given location in a deposit in terms of the value of the product likely to be recovered. The most economic mining strategy will be to mine areas from low economic ratio to high economic ratio within the constraints of reasonable equipment application. When selecting equipment a particular machine should not be selected solely on comparison with other machines in isolation, but the total application must be analysed. In the final selection the decision should be based on whether or not it has a beneficial effect on overall project economics. The economic assessment must take into account the time value of money, so the real cost can be determined with adequate provision for capital and operating costs over different time spans.

Jan 1, 1983

By T Hughes

The Gekko InLine Pressure Jig (IPJ) was unleashed on the World gravity separation market in 1996 and has since sold over 150 units in applications including tin, diamonds, silver, coal, garnet and gold. During the past twelve years the knowledgebase of the best applications and capabilities of the IPJ has greatly increased. Improvements to the original IPJ design have included engineered ceramic ragging in specific gravities from 1.6 to 5.0, full automation and improved designs of feed presentation and tailings and concentrate handling systems. The IPJ has been found to be able to handle a wide feed size range and recover mineral at liberation size without significant addition of water to the mass balance. Test work carried out during full-scale operation of the IPJ has shown the IPJ can recover diamonds down to 0.5 mm, sulfides down to 0.3 mm and gold down to 0.1 mm which greatly expands its application in the mineral processing industry. A significant volume of data now supports the symbiotic benefits of an IPJ and flotation circuit combination to pre-concentrate an ore and minimise downstream processing requirements.

Jan 1, 2008

As has been the case since the early Phoenician traders, the minerals used by modern man come from deposits scattered around the globe. The price received is more and more being set by worldwide supply and demand. Thus the price component in the profit equation:Profits = Material sold (units)x(Price/unit û Cost/unit) is largely determined by others. The recent price history for two of the major metals, copper and iron, are given in Figures 1 and 2, respectively. As can be seen there has been a steady decline in the prices (when expressed in constant dollars) over the 20 years which have lapsed since the first of the International Conferences on Mass Mining, æDesign and Operation of Caving and Sublevel Stoping MinesÆ was held. If one would look back over the entire 20th century this would also be the trend. Cost containment/reduction through efficient, safe and environmentally responsive mining practices is serious business today and will be even more important in the future with increasing mining depths and more stringent regulations. A failure to keep up is expressed very simply as: Profit This, needless to say, is unfavourable for all concerned (the employees, the company, and the country or nation). The mining companies have had to look at ways of reducing the expense part of the profit equation while maintaining safe, environmentally conscious operations. Table 1 summarises the rules for working in todayÆs economy.

Jan 1, 2000

By R Wynn, R A. Pax, S Mann, B Cornish

The semi-autogenous grinding (SAG) mill at the MMG Century operation has failing load cells that are essential to the control strategy used to stabilise the mill. Currently, mill-bearing pressure is used as a proxy for the load cells, but it has been found to be a noisy signal and lacking in useful sensitivity. It is also prone to variations and drift due to temperature. After consideration of a number of options, a non-contact acoustic array has been installed around the SAG mill to provide a more stable proxy load signal as well as other information about the internal operation of the?mill.The installation consists of 12 microphones to provide some detail into the operational differences that occur during normal operations at the MMG Century SAG mill. This acoustic approach acknowledges that operational grinding mills emit significant acoustic emissions that are a consequence of the dynamic environment prevailing inside them.Previous studies have attributed the acoustic noise to a range of events that occur inside these mills (Pax, 2011; 2012). Consequently, non-contact acoustic determinations of in-mill behaviour can provide powerful insights into the operation of the primary comminution tumbling mills. By measuring key microphone signal attributes at different positions around a mill, a holistic picture of mill internal operation can be developed.This paper will describe the installation of the 12 microphones and discuss the use of the acoustic load signals as a proxy for failing load cells. It will also present data from new observations of internal mill dynamics and the results of implementation of control using these acoustic signals. Key to the control approach has been the development of a logically coherent picture of the processes inside the mill.CITATION:Pax, R A, Wynn, R, Mann, S and Cornish, B, 2014. Implementation of acoustic arrays for semi-autogenous grinding mill?operation, in Proceedings 12th AusIMM Mill Operators’ Conference 2014 , pp 273–282 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 1, 2014

By M Wieloch, D Wimpenny, M Chappell

Fibre-reinforced geopolymer concrete (FRGC) contains no Portland cement or steel reinforcement, but instead uses synthetic fibre reinforcement and a geopolymer binder. The use of geopolymer binder in lieu of Portland cement reduces the concrete’s embedded energy (CO2 emissions) whilst the use of synthetic fibres eliminates the issue of reinforcement corrosion, thus enhancing the overall long-term durability of concrete. This paper presents the development of FRGC during a three-year project funded by the Victorian Science Agenda and a consortium of five organisations. The work involved laboratory and field trials and the production of prototype tunnel segments that have been subject to durability and fire testing.FRGC has exceeded the performance of the Portland cement-based control mix in terms of flexural strength, chloride diffusion, water sorptivity and drying shrinkage. Furthermore, the FRGC segments subjected to a simulated hydrocarbon fire test did not exhibit explosive spalling; however, the creep of FRGC was approximately three times that of the steel fibre-reinforced Portland cement-based control mix. The compressive strength and tensile splitting strength of the FRGC were also lower than the control mix. These differences need to be allowed for in the design using FRGC.Prototype bolted tunnel segments of up to 0.8?t mass have been produced from FRGC using standard production techniques and ambient curing. These were successfully produced within a 24-hour production cycle. Cut sections through the segments showed good compaction and even distribution of fibres. The estimated carbon footprint of tunnel segments produced using FRGC is approximately 70 per cent less than that of Portland cement-based segments containing 25 per cent fly ash and steel reinforcement.The results to date indicate that FRGC has the potential to produce a new generation of tunnel segments and, in general, precast concrete products with increased durability and substantially reduced carbon emissions compared to the Portland cement-based concrete with steel reinforcement.A summary of further research carried out by CH2M HILL into a complete elimination of ferrous inserts from segmental concrete tunnel lining is also summarised in this paper. The use of non-ferrous connectors for radial joints in combination with the FRGC technology in the manufacture of tunnel segments will effectively lead to development of a new generation of segmental tunnel lining systems.CITATION:Wimpenny, D, Chappell, M and Wieloch, M, 2014. Fibre-reinforced geopolymer concrete – an innovative material for tunnel segments, in Proceedings 15th Australasian Tunnelling Conference 2014, pp 345–352 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 17, 2014

Accidents in open pit mining have a high cost in lost time of person- nel, damage to equipment and installations, and lost production. The realities of export competition require that Mine Management sig- nificantly reduce the costs associated with accidents and workplace ill-health. Newer management approaches are proving effective in reducing the Total Cost of Risk through a strucured Occupational Health and Safety Programme exhibiting the following features: ò Formal Company Policy ò Accountability for OH&S performance clearly designated to each level of management and supervision ò Effective utilisation of a Mine Occupational Health and Safety Co- Ordinator and a Mine Occupational Health and Safety Adviser ò Development of realistic OH&S Objectives ò Training of Management, Supervision and Workforce in Occupa- tional Health and Safety ò Development and adoption of Safe Work Practices and Procedures ò Effective employee selection procedures, control of Contractors ò Monitoring of the health of the workforce ò Collection, recording and distributing information on all Mine inci- dents, accidents, injuries and damage ò Ensuring that the Mine environment is healthy and safe ò Effective Emergency Procedures to deal with injury, fire, rescue and other situations of risk ò Controlling those Mine hazards which cannot be removed ò Adopting a high standard of Occupational Rehabilitation ò On-going visible Management participation in the programme to ensure that momentum is developed and maintained. This approach requires that Occupational Health and Safety be given equal status with product quality, maintenance of plant and output per- formance; its implementation is rewarded with improved morale and major cost reductions.

Jan 1, 1989

By A G. L Pratt, C Rossetti

The implementation of mass mining methods for large metalliferous deposits has led to the development and application of increasingly sophisticated automation and condition monitoring technologies in these mines. This technology aims to increase safety, equipment utilisation and monitoring of critical aspects of the underground ambient and geological environments. The communications networks required to support these aims and their associated technologies have evolved accordingly, and have done so in a demanding underground environment. The evolution of communication infrastructure for large underground mines has developed from basic analogue telephony to high-bandwidth optic fibre based systems. The latter is now the media of choice. More recently the developments in wireless broadband equipment designed specifically for underground environments have emerged to satisfy the needs of automation for mobile equipment and shaft conveyance communications. The use of internet protocols for industrial control and monitoring has led to the application of ethernet-based backbone networks as a standardised approach. There may also be a need for the integration of range of communications platforms in a mining operation to realise the full advantages offered by automation and condition monitoring technologies. As a result the design of the communications backbone networks for underground mines has started to become the domain of information technology professionals. Without these networks, the analysis of equipment utilisation is often not possible. The improvements that can be brought about by æsweating the assetsÆ and the transmission of business critical information are the most significant benefits of an integrated communications system. These benefits far outweigh the costs of strategic planning, subsequent specification and implementation of communication networks themselves. Future developments in mining systems and communications technology will continue to drive the demands placed upon communications networks as an essential mass mining infrastructure item. This paper outlines the benefits of secure high bandwidth backbone communications networks for mass mining operations and the need for a high degree of strategic thought and demand forecasting in the planning stages for these operations.

Jan 1, 2008

By N Maistry, A Singh

It is estimated that in less than a decade, high-grade iron ore reserves in South Africa will be depleted, leaving only low-grade ores with a dominant lithology of banded iron formation (BIF) hematite. BIF is a complex ore reserve as it is typically liberated below 1 mm, resulting in high energy costs. However, due to its abundance, its beneficiation potential should be evaluated to maximise recovery at an acceptable product grade. To develop a beneficiation program for BIF hematite, the first step is to determine the effect of two laboratory crushing techniques on mineralogical characteristics, specifically liberation and shape. For this study, the cone crusher and high pressure grinding rolls (HPGR) were used. The Electron MicroProbe Analysis (EMPA) and Mineral Liberation Analyser (MLA) were used to compare the mineralogical characteristics. The liberation characteristics for hematite are similar for both crushing techniques; however, HPGR preferentially liberates quartz. HPGR achieved 8– 12 per cent additional quartz liberation in the greater than 80 per cent and 100 per cent liberation classes respectively and specifically in +75 μm size range. Improved quartz liberation is associated with lower energy requirements for downstream milling and improved separation efficiencies for beneficiation units that operate in this size range. Both samples displayed similar shape characteristics; most particles were elongated smooth and the rest were elongated angular. Good hematite liberation is expected at grinds of 212 μm to 150 μm. Further consideration should be given to throughputs, energy efficiency and downstream equipment selection prior to selecting a crushing technique.

Sep 18, 2023

By A G McLean

This paper will first discuss the fundamental requirements for reliable discharge of backfill by gravity alone at high per cent solids. This discussion will include brief mention of the underlying principles of saturated solids flow contrasted to that of stirred tank or dilute discharge systems. Here the need to possess full knowledge of the flow properties of the stored material will be highlighted. In regard to attainment of reliable discharge it will he revealed flow from a backfill silo will only occur provided: ò the flowing material in the converging channel is yielding throughout; ò slip is occurring along the walls; ò an arched stress field is present in the vicinity of the outlet; ò the flowing backfill must be dilating to flow in response to the dilating stress field; ò sufficient dilation water is injected, in the hopper, to eliminate the formation of adverse interstitial pressure gradients; ò sufficient dilution water is injected, downstream from the hopper outlet, to generate a pumpable slurry of maximum per cent solids; ò the silo level must be sufficient to prevent the pump suction forming a rathole; ò the system must be configured and operated to generate stable discharge density; and ò the system must be configured and operated to minimise damage to the pump liners. In addition proper account must be made of the silo overflow weir and settling capacity to match plant throughput. Here opportunity will be taken to highlight the complexity of this multi-phase flow situation as well as the general yet paramount requirements for reliable solids flow. It will be shown that by proper attention to the multi-phase considerations gravity discharge of slurries as a consolidated bed with minimal water content is possible. Such high solids discharge results in greatly reduced demand for process water. In addition pumping costs are reduced as is the delay time associated with the mine drainage operation. Confirmation of successful applications will be highlighted by reference to several recent case studies. In the concluding phase mention will be made of the key yet very simple and effective operation techniques which enhance reliable Discharge.

Jan 1, 1998

By J V. Mehrabani, A R. Sayadi

Adequate estimation of equipment costs is a key factor in a feasibility study and in evaluation of design alternatives for mining and mineral processing projects. Inaccurate early cost estimation could lead to the elimination of investment benefits. However, this estimation is complex and time consuming because of data accessibility problems and consequently access to a rapid, up-to-date and accurate tool is desirable for carrying out cost estimations.This paper describes the development of models for estimating capital and operating costs for a jaw crusher, which is used as the primary crusher for a wide variety of mineral beneficiation plants, applying single and multivariate regression analyses, together with the design of experiment approach, based on principal component analysis. Explanatory variables include gape size, length of feed opening and power as numeric (quantitative) variables and toggle type (single or double) and the existence of extra heavy duty construction as categorical (qualitative) variables. The performance of each model has been investigated and comparing the estimated R-squared (R2) of each model, the best was selected and its validity examined. The cost models include the capital and operating costs along with the operating cost components. The results indicate that the suggested best cost model is sufficiently accurate for use in feasibility studies.

Sep 26, 2011

By Y Chen, G Xu, B Albijanic

High concentrations of airborne coal particles is the main reason leading to health and safety hazards in underground coalmines. Water spray is one of the effective methods to suppress coal particles in mine sites, but the use of plain water is not effective enough to capture coal particles. By adding surfactants, coal wettability can be improved which will increase the coal dust suppression efficiency. In this study, a modified sink test was employed to evaluate coal wettability in the presence of two anionic surfactants: sodium dodecyl sulfate (SDS) and sodium dodecyl benzene sulfonate (SDBS). Sink rates were calculated by measuring sink weight over test time. Different surfactant concentrations (0.01 per cent, 0.05 per cent, 0.1 per cent, 0.2 per cent and 0.4 per cent) and two types of water (tap water and deionised water) were selected to investigate coal wettability over three size ranges (0–38, 53–75 and 75–90 µm). The results show that both SDS and SDBS surfactants can lower the water surface tension and improve coal wetting performance. Sink rates increased as the surfactant concentration increased, and surfactant solutions prepared by tap water performed better than deionised water in enhancing coal wettability. Also, coal wettability varied for different coal particle sizes; the smaller coal particles were, the worse the wettability they possessed.CITATION:Chen, Y, Xu, G, Wang, R and Albijanic, B, 2017. Study on coal wettability for dust suppression in the presence of surfactants by sink test, in Proceedings Australian Mine Vent Conference 2017, pp 105–110 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

By Trendell B

While objective selection and assessments are an accepted part of employing managers and other staff, they have had only a limited place when selecting mineworkers in Australia. Wambo Mining Corporation has used occupational testing as part of its recruitment process since 1994. For managers and staff in particular, it is considered this has contributed significantly to a 95 % fit of those appointees. In 1997 when Wambo undertook development of a new "on site" subsidiary underground mine called Wollemi Services, they wanted to select the most appropriate people in terms of skill and on the job performance. To achieve this they reviewed and improved their recruitment processes to facilitate selection and transfer of an initial intake of almost 50 staff and mineworkers.One of the issues for Human Resource Management was to provide an environment where employees could let go of previously held (but not necessarily individually believed) entrenched views about individual performance and assessment. It needed to be emphasised that performance could be objectively and fairly assessed. More importantly, the performance being assessed was the application of skills and that new skills could be learnt and individuals could choose to change Behaviour.

Jan 1, 1998

By C Catania

Mining companies and operations across the globe typically target best practice financial management, along with a focus on economically driven mine plans. Not only is this inherent in running a successful mining business, but also critical in addressing investor scrutiny. The standards for social and environmental practices is less consistent than this, with most companies adopting standards that are driven through legislative and compliance requirements of the nations in which they operate. Although there is still room for improvement, Australian is a country that stands at the forefront of social and environmental legislation, driving more sustainable planning practices for mining operations, with an ever-increasing focus on mine closure considerations. Of the many nations yet to reach such a legislative position, Kazakhstan is a place where some companies are driving towards world class standards beyond what is government mandated. CITATION:Catania, C, 2018. World-class mine planning for a sustainable future in Kazakhstan Mining, in Proceedings Life-of-Mine 2018, pp 6–7 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 25, 2018

Human creativity springs from the natural desire of mankind to know and its capability to learn. Explorers and discoverers possess these features in a high degree. They are driven by an unrelenting curiosity to go beyond the boundaries of the known, to explore into the nature of things, to reveal connections between ideas, facts, conceptions, to view things from new angles, to change perceptions. A well-known fact about the construction industry - and underground construction in particular - is that all projects are unique. The degree of complexity due to the intertwining of the variety of project-related parameters is higher than in many other industries, thus forcing contractors as well as suppliers to be truly adaptable and flexible. The enormous advantages of shotcrete as a construction and rock support process and the improvement of materials, equipment and application know-how have made it a very important and necessary tool for modern underground construction works. The development of modem wet shotcreting in particular has enlarged the field of underground construction work. Projects that were impossible to be realised, have now become practicable. Subsurface structures can be placed where they are needed, without regards as to rock and soil conditions.

Jan 1, 1995

By J Sigda, T Jones, D Staggs, J Ewing, C Cheng, J Pickens, S Paulka

Mine-derived solutes from Energy Resources of Australia’s (ERA’s) Ranger uranium mine have been closely monitored for decades. Ranger is surrounded by the Northern Territory’s Kakadu National Park and is upstream of Ramsar convention wetlands. Modelling of groundwater flow and solute egress from mine wastes to surface waters has helped ERA successfully assess closure options and secure intermediate regulatory approvals during the site closure process. Potential environmental impacts were assessed using groundwater modelling in support of three ERA applications involving disposal of tailings-derived mine waste. Model results were an important part of the basis for obtaining regulatory approval. Three case studies are presented describing the three applications and how the groundwater modelling supported approval of the applications. For case study #1, INTERA supported ERA in addressing stakeholder concerns in 2017 regarding two aspects of tailings deposition in Pit 3. The first was the potential for flow of tailings fluid into the surrounding formations during tailings deposition. The second was the difference in post-closure magnesium (Mg) loading to surface water for two tailings deposition scenarios. INTERA developed a two-dimensional (2D) model that showed excess tailings pore pressures would not cause outflow and solute egress from the pit during deposition. INTERA’s three-dimensional (3D) models demonstrated that post-closure Mg loading to creeks for both tailings scenarios differed marginally and would be a small fraction of natural creek Mg loads. The modelling results helped avoid delays in completing tailings deposition driven by stakeholders’ environmental concerns. Case study #2 consisted of supporting ERA’s 2019 request for approval to change the tailings deposition method and final tailings level in Pit 3. INTERA’s model results for the permitted and proposed deposition methods showed minimal differences in post-closure Mg loading to creeks. The model results helped ERA obtain the needed approval for the tailings deposition method and water and tailings levels in Pit 3. For case study #3, INTERA modelled the comparative impacts from leaving the entire contaminant plume from the temporary tailings storage facility (TSF) in situ or excavating a portion of the contaminated material from beneath the TSF floor and placing it in Pit 3. The modelling results supported an approved TSF contaminated material application important for ERA to stay on schedule and minimise both closure costs and environmental impacts.

Jul 1, 2021

By Harada M, Katsuta S

In order to shorten the time taken to com- plete shield tunnel excavation work, reduce labor costs and to improve safety, an automatic assembly robot system for the segments used has been developed. It was developed in the three years from 1982 until 1984. An experimental assembly system for concrete segments (outer diameter:.3.55m) has been thoroughly tested to confirm that these segments can be fed and assembled automatically (Fig. 1, 2). This report outlines the robot which will be put into practical use in the near future. The robot senses the position of already assem- bled segments by means of position sensors, controls the position and the attitude of the segment to be assembled to allow bolt hole positioning, and completes the automatic assembly of a se;nent by automatically tighten- ing bolts. The six segments which make up one ring can be automatically assembled in about 25 minutes.

Jan 1, 1987