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By Raymond M. Stateham

A portable, handheld infrared scanner has been used to detect abnormal surface temperature on dumps of flood-generated trash near Wilkes-Barre, Pa. Three of eight dumps examined had thermal anomalies on the surface, indicating temperature buildup at depth. The anomalies found with the scanner were verified by measurements with a thermocouple probe or a carbon monoxide detector. One week after the investigation was completed, open fire broke out at the site of one of these thermal anomalies; about 6 weeks after the investigation, a thermal anomaly in another dump was verified when a trench was excavated in the dump.

Jan 1, 1973

By Clarence Seyler

THE technical difficulties of cutting thin sections of coal for examination by transmitted light have hitherto restricted the investigation of the important subject of the microstructure of coal to the few possessed of the requisite skill and time. Apart from this, the method fails with anthracites and other coals rich in carbon, owing to the opacity of the material. Occasional use of the method of polishing a surface, with or without etching, has been made, but it was not until Winter1 published an account of his results that attention was seriously directed to the method. In May, 1923, a specimen of dull anthracite came into my hands; I tried Winter's method on it and the presence of megaspores and other vegetable structures became clearly visible. A preliminary notice was published by me;2 but I soon abandoned the use of Schulze's solution having found that a mixture of chromic and sulfuric acids gave far better results. In the meantime Turner and Randall, in America, had independently developed the method of flame etching, as applied to anthracite, with great success. I have spent a year studying the method of chromic etching, which gives excellent results with bituminous coals and cannels, as well as with anthracite. For anthracites, I have used the chromic method and Turner's method of flame etching, whichever was the more convenient or as a check one on the other. The polishing is done, according to metallurgical practice, by the use of a polishing machine and successively finer emery paper, followed by polishing on cloth moistened with a suspension of levigated green oxide of chromium, and a final rubbing on "selvyt" (a cotton velvet polishing cloth) moistened' with alcohol. The polished sample is examined by reflected light with a 2/3 and 1/6 in. objective. Bituminous coals usually show considerable structure, and even anthracites show it faintly in places. The sample is then etched by immersion in a boiling solution made by adding 10 c.c. of concentrated sulfuric acid to 30 c.c of a saturated solution of chromic acid; enough water is then added to dissolve

Jan 3, 1925

By S. Bradshaw, A. Mabentsela

"Physical and numerical modelling methods were followed to identify mechanism(s) for tundish slag entrainment in a bare tundish and one with a flow control device (FCD).The physical and numerical models made use of water and paraffin to model steel and slag respectively. Observations from the physical model showed that the steel-slag interface remains immobile in both cases. Entrained paraffin formed droplets approximately 1 mm in diameter. Results from both models (numerical and physical) showed that in both cases (bare and FCD case), areas of high entrained slag concentration exist near the inlet region. The entrained slag concentration decreases towards the tundish endwalls.Flow patterns and velocities tangential to the steel-slag interface from the numerical model showed that slag entrainment in both the bare tundish and tundish with a FCD possibly takes place via two mechanisms. First, the slag moves across the steel-slag interface via mass transfer; secondly small velocities tangential to the interface at depths greater than 10 mm below the interface carry the already ‘entrained’ slag into the bulk steel phase. These tangential flow patterns are dominant in the inlet region, hence the high concentration of entrained slag in this region. IntroductionThe tundish serves as the last metallurgical vessel through which steel passes before solidifying in the moulds. It is in the tundish that the last traces of non-metallic inclusions should be removed, otherwise the inclusions carry over to the moulds and cause defects in the steel product. In the tundish, the slag is less dense than the melt and thus resides on the top of the melt. The slag provides a sink into which the non-metallic inclusions float to and dissolve. The slag also protects the melt from air and heat loss. However, when slag is entrained in the melt as a result of increased turbulence or shearing at the steel-slag interface, slag can become a source of nonmetallic inclusions.Numerous studies on flow patterns in the tundish have been carried out since the introduction of the tundish. These studies were aimed at improving the flow characteristics in the tundish (Chattopadhyay, Isac, and Guthri, 2010; Cloete, 2014; Jha, Dash, and Kumar, 2001; Jha, Rao, and Dewan, 2008;"

Jan 1, 2017

By McDougall I, Claoue-Long J

A combination of high precision 40Ar/39Ar and U-Pb dating has been used to determine the age of hydrothermal minerals and host rocks in a number of Lachlan Fold Belt (LFB) gold deposits in New South Wales, Au4 ralii In particular, this investigation demonstrates that the UAr/ Ar technique of K-Ar dating can be used to determine the timing of mineralization in Palaeozoic systems.A close temporal link between mineralization and Late Ordovician to Early Silurian magmatism is indicated by the dating work. Hydrothermal sericite from the Goonumbla p8rph gy Cu deposit and Glendale Au prospect yieldsAt/ Ar step heating ages between 437.9 ¦ 1.1 and 441.2 ¦ 1.1 Ma (16), and4 minjrnum age of about 425 Ma has been obtained by Ar/ Ar dating of hydrothermal amphibole from the Browns Creek Au-Cu skarn deposit. Hydrothermal aluniI8 frog the Gidginbung epithermal Au deposit yields reset 44 Ar/ Ar ages of 401.0 ¦ 1.3 to 417.3 ¦ 1.3 Ma (16). U-Pb dating by ion microprobe on magmatic zircons from the vicinity of the Goonumbla and Gidginbung deposits gives ages of 438 ¦ 3.5 Ma (2 6), and 435 ¦ 2.5 Ma (2 (7) respectimly, W a minimum age of 435 Ma has been obtained by Ar/ Ar dating of magmatic phases from volcanic rocks adjacent to the Browns Creek skarn deposit. Magmatic episodes near the Sheahan-Grants gold skarnpost give ages of 479.2 ¦ 1.1 and 467.9 ¦ 4o1 by 'Ar/ 9Ar dating of magmatic amphibole. Most Ar/3yAr age spectra show the effects of partial Ar loss at between 360-420 Ma, probably due to heating caused by granitoid emplacement.The radiometric dating work in this paper suggests a restricted metallogenic epoch in the Late Ordovician-Early Silurian LFB, NSW, of similar duration to that found in the Andean margin and the western Pacific island arcs around the Pacific Rini.

Jan 1, 1990

By Clark D. Harrison

This paper compares the ash slagging potential of Illinois No. 6 Seam coal: as raw coal; as commercially cleaned coal processed in a baum-jig plant; and as coal cleaned to a reduced ash specification at the Electric Power Research Institute's Coal Cleaning Test Facility. The comparison is based on: ? ASTM ash fusibility data ? A slagging index ? Gravity fractionation analyses of critical mineral matter compounds ? Comparative pilot combustion tests. The first three grounds of comparison are laboratory data; and the final comparison involves burning approximately 15 tons of each coal at CONOCO's 1.5 MBtu/hr (440 KW) test combustor. The evidence of these .four comparisons indicates that lowering the ash specification of coal before combustion can significantly improve the ash slagging characteristics of Illinois 90. 6 Seam coal.

Jan 1, 1984

By W. G. Willson, Y. L. Li, P. D. Rao, D. E. Walsh

The combination of high moisture and low heating value has restricted most low-rank coal (LRC) usage worldwide to mine-mouth power generation. The objective of this study was to subject two Alaska low-rank coals to hydrothermal drying to enhance their marketability in the Pacific Rim markets and to evaluate the chemical and physical properties of the dried products as a function of process conditions. Coals from Usibelli Coal Mine and the Beluga coalfield have a heating value of approximately 18.5 MJ/kg and contain about 28% moisture. Hydrothermal treatment (at 275° to 325° C) of lump coal, from the Usibelli Coal Mine and the Beluga coalfield, enhanced the heating value of the material, on an equilibrium moisture basis, from 18.5 MJ/kg to nearly 27.8 MJ/kg. The product coal, with a high heating value and only 0.2% S, is an environmentally-acceptable premium fuel; additionally, with the Hardgrove grindability index of the coal greatly improved, its value is even further enhanced. An increase in hydrothermal drying temperature promotes vesiculation of resinite. Also, ulminite reflectance increased to 0.92%, and ulminite was subjected to widespread vesiculation; this resulted in a coke-like structure indicative that the material went through the fluid stage.

Jan 1, 1993

By Nirmal Weerasekara, Lian X. Liu, The University of Queensland, Weiguo Xie, Benjamin Bonfils, Ping Yu

A mill model structure based on the population mass balance framework incorporating breakage characteristics, slurry and solids transport, product classification and discharge and energy consumption was reported in XXVII IMPC and named the Generic Tumbling Mill Model Structure Version I (GTMMS I). In this work, a new 4D (four dimensional) appearance function sub-model based on the experimental results of the JK Rotary Breakage Tester (JK RBT) was developed to describe the breakage characteristics and was applied to this new model structure. The newly developed 4D appearance function model has fewer fitting parameters and is more generic in nature. Most importantly, it is applicable to both high and low energy impact breakage. It is therefore much more versatile in comparison to the existing JKMRC t10- tn appearance function and the size-dependent JK M-p-q t10-tn appearance function. In addition, the Discrete Element Method (DEM) energy distribution model was integrated into the new model structure. With DEM results providing energy distribution information inside the mill directly, the selection function and the back-calculation method used in the existing JKSimMet modelling method are not needed in this model structure. With the above two revolutionary innovations, the previous model structure was upgraded to the Generic Tumbling Mill Model Structure Version II (GTMMS II). Furthermore, the new model structure is dynamic in nature with time-stepping technique for non-steady-state simulation. A case of the dynamic grinding of a SAG mill was studied to validate the GTMMS II. The model simulation results agreed well with the plant data. With the newly developed 4D appearance function model, the incorporation of DEM energy distribution and transport function, the GTMMS II is an important step forward towards mechanistic modelling of tumbling mills.

Jan 1, 2016

By James J. Scott

I am indeed honored to be the 1991 recipient of the Daniel C. Jackling Award. To be voted this honor by my peers in the Society for Mining, Metallurgy, and Exploration and AIME means more to me than I can truly express. Daniel Jackling's position and prominence in the mining industry first came to my attention in the fall of 1949 when I transferred from Wisconsin Institute of Technology, then a three-year school, to the Missouri School of Mines to complete my last year for a bachelor's degree in mining engineering. I played basketball in the Jackling gym and ran track on the Jackling field. I didn't know a lot about Jackling then, except he was an honored graduate of the school and, obviously, supported the school financially. Over the years, Jackling's name kept coming up. He was a man with a reputation for being a doer, a mining leader who was always a step ahead, a mining engineer who knew how to motivate men in the working place, to organize mining systems, to finance and organize corporations. to open up new, low-grade ore bodies for exploitation. If Jackling were alive today, I would expect he would bean excellent candidate to apply practical rock mechanics to his projects. Looking over the list of Jackling Award recipients, I have known many, have met many personally and had a few who were dear friends that affected my own professional life. Ab Shoemaker, '58, and I consulted at the White Pine Copper Co. on mining problems in the 1960s. We arranged for our visits to the mine to coincide so that we could collaborate on our ideas. I would rent an auto and drive for Ab. He said he was the only mining engineer in the country that had a PhD for a chauffeur. James Boyd, '67, was my mentor as regards the White Pine Rock Mechanics Program that we organized in 1963. Only through Boyd's forsight. leadership, dedication and willingness to spend money on research and development did the Practical Rock Mechnics Program at White Pine succeed. He never wavered in his support to that program or to me personally. Tom Howard, '75, was my predecessor in 1970 as Director of Mining Research for the US Bureau of Mines. When I joined the Bureau in August 1970, he had the research centers up and running. Any successes I may have had with the Bureau of Mines were due in great part to Tom's leadership and organization throughout the 1960s. Gene Cameron, '68, was my teacher at the University of Wisconsin and I remember him fondly. He was the one professor who lectured in a manner that made me welcome going to his classes each day, a truly remarkable educator. If you have come today to listen to me talk about instrumentation, rock properties, stress-strain relationships, rock mechanics theory, etc., you will be disappointed. Large volumes of data have been collected by well qualified theoreticians to define stress-strain conditions in mines. Unfortunately, very little of this data has been used by industry due to the lack of initiative and understanding by the researchers to the true problems of implementation in the industry. I hope my remarks will assist future investigators to work through the maze of operational problems so they will experience the satisfaction of seeing their research used. I fully realize that the Jackling Award is given by the Society for Mining, Metallurgy, and Exploration and is primarily offered for accomplishments in hardrock mining. I have found it impossible to separate hardrock and coal mining when I talk about "Applied Rock Mechanics." There is too much overlap and the same mechanics principles are applied to both. For example, coal mine designs have been applied to salt, trona and potash. Also, the original layout and design of White Pine Copper Mine was based on coal mine designs. Any developments to apply rock mechanics ideas must

Jan 1, 1992

By H. E. Grand

The purpose of this paper is to outline briefly some basic principles of ground- water hydrology that have application in mine hydrology. The development of a mine below the water table pleads for accurate values to answers of hydrology problems. Such problems involve both an inflow of water without adequate drainage facilities and a deficiency of water for the required use. Methods which give acceptable quantitative values for the solution of many ground-water problems depend on rather simple geologic structures, characterized chiefly by isotropic rocks of considerable areal extent. Unfortunately, mining operations are likely to be centered where isotropic rocks are not present. Consequently, methods that attempt to show values of the storage and transmitting capacity of rocks in mining areas must be applied with caution. In spite of complex geology and apparent uniqueness of individual mines and quarries, adherence to some concepts of ground water used by -hydrologists in the study of behavior of wells should be helpful to mine operators, The work of the Ground Water Branch of the U.S. Geological Survey through its history has been confined largely to the study of ground water as a resource, In view of the increasing number of problems relating to drainage of mines, the Branch started an investigation of mine hydrology in 1945 under the direction of W.T. Stuart, Mr. Stuart and other workers are making detailed studies of specific mine areas. In the present paper an attempt is made to synthesize some facts about ground water into usable form for the typical mine operator. Mining operations that extend below the water table disturb the natural hydrologic regimen, Prior to development, the water table slopes away from the site of a mine in at least one direction, but as soon as development begins and water is removed from the mine, the mine becomes the apex of a depressed cone in the water table, causing a convergence in the flow of water toward the mine. The behavior of the cone of depression, as it tends to deepen and increase in areal extent when the mine deepens, is related to the rate of withdrawal of water necessary to keep the mine dry. The significance and nature of the cone of depression in the vicinity of pumped wells has been studied by ground-water hydrologists for years, but the cone caused by pumping water from mines has generally been less systematically appraised.

Jan 1, 1958

By R. C. Emmett

Waste treatment in the mining industry is by no means a new problem to this field. In a sense, the entire process from ore to finished product is one of waste treatment - the separation of a relatively minor quantity of desired component from valueless material. Where it has been necess-ary or economical to practice conventional waste treatment or pollution control methods, such as dust collection, water recovery from tailings, or impounding of residues for future treatment, this has been done. Generally the containment of hazardous pollutants such as arsenic and cyanide also has been followed in modern times. But it is only recently, with the public outcry for the elimination of all forms of pollution, "that the industry has been forced to solve what often appears to be a myriad of difficult and costly waste treatment problems, or be faced with the alternative of closing down the operation. It is the objective of this paper to describe new as well as conventional approaches to these problems, specifically as might be applicable to liquid-solids separation methods. Host wastes in the industry are present either as solutions or slurries, or can be most advantageously handled by conversion to this form, such as in scrubbing noxious gases and dusts with water. Separation of the solids and purification of the aqueous effluents are, therefore, often the principle problems.

Jan 1, 1971

By Gary R. Corbett

The federally owned Cape Breton Development Corporation (CBDC) mines approximately 2.5-3.0 Mt of coal per annum from its Phalen Colliery. As part of an ongoing process to become more commercially viable the Corporation has implemented changes in its support method, namely, the transition from traditional steel set inseam supports to roof bolts as primary support in the single entry longwall retreat drivages. During 1991 and 1992, a monitoring program was implemented by the Cape Breton Coal Research Laboratory (CBCRL) to determine the loading on support systems and ground reaction in the gateroads in front of the retreating longwall faces of the 4 East and 5 East panels at Phalen Mine. The 4 East gateroad had been supported by steel sets alone. The 5 East gateroad had been supported by steel sets as well as roof bolting and strapping of the gateroad roof. Steel sets in both gateroads were instrumented with strain gauges and load cells to record support reaction to the retreating face abutment pressure. Multipoint borehole extensometers and multipoint strain gauged roof bolts were installed in the gateroad roof to monitor strata displacement and bolt loading above the gateroad as the longwalls retreated. This paper describes the details of the instrumentation and monitoring techniques utilized during this program and discusses the results, trends and differences observed in the two differently supported access roadways. Work on future data acquisition instrumentation is also briefly described.

Jan 1, 1993

By J. B. Littlefield

This study is one of at number conducted to determine the concentration of dust in the air during the complete cycle of operation in wet drilling; information as to various factors connected with, drilling in mining operations is considered to be of definite value in the control and prevention of air dustiness, and it in particularly desirable to ascertain whet features of present-day wet-drilling operations in mine work contribute to dust disease and to remedy deficiencies when they are found.

Jan 1, 1938

By R. R. Wells

This report summarizes the results of preliminary mineral-dressing studies by the Bureau of Mines on five samples of copper-bearing ore from various Alaska de-posits. The work on each sample was not extensive enough to warrant individual publication. The results, however, indicate the possibilities and limitations of concentration of the respective ores. The information therefore may be helpful in future development of these ore bodies. Four of the five samples tested were submitted to the laboratory by engineers of the Bureau of Mines as part of the examinations and survey investigations of strategic-mineral deposits in Alaska. This program is conducted to assist development of mineral resources in the Territory and particularly to aid economic exploitation of marginal or complex ores. The fifth sample was submitted by engineers of the Defense Minerals Exploration Administration.

Jan 1, 1956

By Clifford Wilson

SCREENED pipe is designed with the view of restraining the fine, free-running sands of the production zone from entering oil wells. Its successful use is dependent on a number of factors. The nature and effects of some of these factors can be determined through experiment and observation, but some of the elements that have a distinct bearing on the use of screened pipe can be evaluated only by estimate. The important subsurface conditions which affect the use of screened pipe are: 1. Depth of production zone. 2. Extent of production zone. 3. Reservoir pressure. 4. Character and relative quantity of oil and gas. 5. Character of sediments a. Consolidation of beds. b. Variation in beds. c. Grain-size gradation of sands. d. Free-running characteristics of sand from different levels. Aside from the use. of mechanical equipment and tools, the measures to be taken in the installation of screened pipe involve: 1. Size of liner. 2. Length of liner. 3. Design and mesh of screen. 4. Portion of liner to be screened. 5. Manner of setting liner. 6. Preparation of or washing of the well before or during the setting of the screen. 7. Manner of bringing in the well. 8. Manner of flowing the well. Values applicable to the actual subsurface conditions that exist at any well can only be approximated. The accuracy of the estimate will be measured by the amount and quality of the evidence at hand and the personal factor of ability to interpret the evidence fairly, whether

Jan 1, 1932

By Frederic Dewey

(New York Meeting, February, 1913) This old and well-known method of determining, silver is, in bullion work, so far superior to the furnace-assay that it is looked upon with reverential awe by many, if not by most, users, and its-ease of execution, with proper equipment, commends it highly where much commercial bullion work on silver is required. The method is so thoroughly well known that a, description of it here may seem to be unnecessary, but many thousands of determinations are annually made by it in the U. S. Mint Service and its practice is there reduced to an art. This is necessary both for the sake of economy of time, acid because high-grade work with it requires constant practice. It is useless for a person who uses it only occasionally to expect to attain high accuracy with it, without spending more time upon a determination than is warranted in a busy commercial laboratory. It is always employed in the Mint service whenever possible, but its chief field is in the determination of silver in standard silver (ingots and coin), which is 900 fine in silver and 100 fine in copper, and I shall first briefly outline its use on this metal and then take up various points in detail, especially as related to the accuracy of the results obtained.

Jan 4, 1913

By S. Jayasekera, A. M. T. S. Bandara, J. Kyle, E. Koenigsberger, L. Koenigsberger

The extraction of rare earth oxides from fluoroapatite rich phosphate concentrates often involves a weak acid leach of fluoroapatite and a sulphuric acid bake of the leach residue followed by water leach and precipitation to obtain an intermediate product. The main aim of this study was to determine and rationalize the solubility of rare earth metal ions in synthetic solutions representing various process liquors at the temperatures 40, 60 and 80oC. The liquors contained different acid and metal ion concentrations with respect to sulphuric acid, phosphoric acid and sulphate salts of sodium, magnesium, aluminium, potassium, calcium and iron(III). A solid of mixed rare earth carbonates was used as the source of rare earth metal ions. The solubility tests and characterization of solids using XRD were conducted at Murdoch University laboratories as part of the process development for the Arafura Resources Nolans rare earth project. The composition of initial carbonate solids and the solids and solutions formed after saturation were analysed for rare earth and other elements at TSW Analytical Laboratories in Perth using ICP-MS and ICP-OES. The precipitated solid in sodium-rich acidic sulphate solutions is the double salt NaRE(SO4)2 based on the solid assays. However, in acidic solutions free of sodium or of low concentrations of sodium the precipitated solid appears to be RE2(SO4)3.

Jan 1, 2014

By C. H. Jr. Herty

ALMOST every metallurgist who has given the Howe Memorial Lecture has had a personal contact with the distinguished gentleman to whose honor this hour is devoted. Unfortunately for me, such personal contacts were not possible. However, in the preparation of a thesis on the open-hearth process, one of my earliest tasks was to make a survey of the literature, and it was from Professor Howe's Metallurgy of Iron and Steel that I drew a number of references to previous work which formed the foundation for my reading. In his volume there is such a complete exposition of the then current thought on the subject of slags and on their role in the elimination of phosphorus from steel that I feel no hesitation in discussing in this Howe Lecture the subject of "Slag Control." In the present era of close specification, the drive for uniformity of product, and the close inspection of the product and of the cost sheet, the utmost efforts must be made to control the steelmaking variables to the best advantage of the steel producer. One of the major variables is the slag in the furnace and its effect upon the composition and quality of the metal. What advantages are to be gained from slag control? In the broad sense the advantages must be tremendous, because the very foundations of good steel melting are based on "shaping up" the slag to a point where, with proper temperature, the heat is ready for the final additions. Every melter works toward these ends through his experience with innumerable heats of steel. The elimination of undesirable constituents such as phosphorus and sulphur is entirely a matter of slag composition and physical nature, a point well known for over half a century. The role played by the slag in assisting in proper heat transfer from roof and flame to the steel has been equally well known. In more recent years there has come the problem of oxygen control in the more accurate gaug-ing of additions for making high-grade rimmed steel for the new strip mills, and in the deoxidizing additions for grain-size control and cleanli-ness of forging steels, both carbon and alloy. In this problem the oxidiz-ing characteristics of the slag are of prime importance.

Jan 1, 1940

By William O. Vanderburg

This paper describing the mining practices at the Argonaut mine, Amador County, California, is one of a series being prepared by the Bureau of Mines on mining practices, methods, and costs in the various mining districts of the United States. The mining practices described are those used in exploiting the low-grade gold ores in the heavy and swelling ground that occurs on the Mother Lode belt. The author acknowledges the assistance of E. A. Stent, vice-president, James L. Fontenrose, cost clerk, Joseph Mohorovich, mine foreman, of the Argonaut mine, and of E. D. Gardner, supervising engineer, United States Bureau of Mines, Southwest Experiment Station, Tucson, Ariz.

Jan 1, 1930

By M. R. Geer

All the coal lands in Alaska are publicly owned, and the Federal Government is the principal consumer of coal. Therefore the Government has long been concerned with the wise utilization of the coal reserves of Alaska as well as with the availability of coals meeting the specifications for use in various Government installations. Coal preparation plays a key role in both of these areas of interest. The proper choice and operation of coal-washing equipment permits the mining of inferior deposits, minimizes waste of coal in preparation, and assures a prepared product of the best quality obtainable from the raw coal. Thus, from time to time, the Bureau of Mines has made washability examinations on most of the coals mined in Alaska. Generally, these examinations were made when new mines or new beds were opened, when construction of new preparation plants was being considered, or when the operation of existing plants could be improved by better knowledge of the raw coal. The purpose of this report is to bring together all the washability data available on the coals of the Matanuska Valley and Beluga River fields. The pattern of energy development for the rapidly growing Anchorage area is not clear at this time. Formerly coal was the only fuel available for large-scale space heating and power generation. More recently both oil and natural gas have entered the market, and several hydroelectric projects have been completed. Additional major hydroelectric projects are being considered. The role that will be played by coal in this competitive energy market is uncertain. However I if coal is the fuel used in future power plants or industrial installations, the information contained in this report will be useful in indicating the quality of the coals that can be supplied and in selecting proper preparation techniques.

Jan 1, 1962

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