Rock excavation is a basic technological operation during tunnelling and drilling roadways in underground mines. Tunnels and roadways in underground mines are driven into a rock mass, which in the particular case of sedimentary rocks, often have a layered structure and complicated tectonics. For this reason, rock strata often have highly differentiated mechanical properties, diverse deposition patterns and varied thicknesses in the cross sections of such headings. In the field of roadheader technology applied to drilling headings, the structure of a rock mass is highly relevant when selecting the appropriate cutting method for the heading face. Decidedly differentiated values of the parameters which describe the mechanical properties of a particular rock layer deposited in the cross section of the drilled tunnel heading will influence the value and character of the load on the cutting system, generated by the cutting process, power demand, efficiency and energy consumption of the cutting process. The article presents a mathematical modelling process for cutting a layered structure rock mass with the transverse head of a boom-type roadheader. The assumption was made that the rock mass being cut consists of a certain number of rock layers with predefined mechanical properties, a specific thickness and deposition pattern. The mathematical model created was executed through a computer programme. It was used for analysing the impact deposition patterns of rock layers with varied mechanical properties, have on the amount of cutting power consumed and load placed on a roadheader cutting system. The article presents an example of the results attained from computer simulations. They indicate that variations in the properties of the rock cut – as cutting heads are moving along the surface of the heading face – may have, apart from multiple other factors, a significant impact on the value of the power consumed by the cutting process.
The results of bearing capacity, deformability and fracture toughness of reinforced concrete beams with the external reinforcement in the form of steel cut and stretchy sheet, obtained due to the conducting of the experiment and mathematical simulation which were made of concrete of C40/50 class are given in the article. Mathematical simulation of beam structures is done on the basis of the deformation model which allows to conduct calculations of the unified methodological positions of different elements with diverse configuration of cross section and reinforcement as well as take into consideration elastic and plastic properties of concrete and reinforcement, assessing the actual stress-strain state of sections of reinforced concrete elements at different loading levels, including ultimate one. The deformation model is based on the actual diagrams use of concrete and reinforcement materials deformation and conditions of efforts balance in the normal section and hypothesis of flat sections. The theoretical value of bearing capacity and deformability, obtained as a result of the mathematical simulation was compared to the experimental data. The satisfactory coincidence of the mathematical calculation of bearing capacity, deformability, fracture toughness and experimental data gives an opportunity to use the algorithm not only for beam structures with bar reinforcement but also for beam structures with the external reinforcement in the form of steel cut and stretchy sheet.
This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.