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By A. Singh

Deformation structures after tensile and compression tests on Mg926Zn64Y alloy extruded at 250°C and 400°C are studied, in as-extruded and heat treated conditions. The icosahedral phase particles stimulate recrystallization during extrusion, resulting in fine grain size. Tensile and compression tests at room temperature show comparable yield strength, with a yield asymmetry ratio up to 0.98. c-type dislocations are observed in the grains near the submicron size icosahedral phase particles. The source of these dislocations is believed to be dissociation of <c+a> type non-basal dislocations. No dislocation pile-ups on icosahedral phase particles are found. {10 1 2} type twinning occurs in compression.

Jan 1, 2006

By N. Fukatsu

The recent development of galvanic cell-type hydrogen sensor for molten copper was outlined. The principle of the sensing mechanism, the fundamental structure of the sensor, and its performance as a process control device are discussed based on experimental work undertaken by the authors. Besides sensors based on usual perovskite-type proton conducting oxide, those using magnesium-doped alpha alumina, which was recently known as a proton conductor, were investigated and the results at the laboratory scale are reported. Considering the excellent sensitivity at high temperature and the stability to the disturbance from the attendant oxygen activity, magnesium-doped alpha alumina was regarded to be a superior material for the sensors used for such purposes.

Jan 1, 2007

By RAYMOND C. HARTVIKSEN

The Drumbo Mine is located near Highway 401 between Woodstock and Kitchener in southwest Ontario. The tabular flat-lying gypsum bed is between 1.5 to 2.4 m thick and is situated near the base of the Salina Formation, about 116 m below surface. The mine is owned and operated by Westroc Industries Limited. The 3.8 m diameter shaft was drilled using a Hughes CSD 820 drilling rig and a liner sinking technique new to the North American continent. The shaft was completed in the fall of 1977, and remaining facilities were finished in the fall of 1978. Gypsum production started in December 1978, employing the conventional room-and-pillar method of mining.

Jan 1, 1984

By D. Royston

Reducing SAG Mill feed size has been a major trend in recent years. ‘Mine to mill’ strategies have reduced blasted-rock size, and in a growing number of operations reducing the primary crusher CSS and/or adding additional crushing upstream of the SAG mill have reduced rock feed size. While reducing feed size will increase SAG mill throughput, issues arise in terms of retaining charge in the mill, exposing the shell lining to impact damage, and maintaining milling performance should the pre-crush system shut down. This paper reviews the past experience on pre-crushing for SAG mills and provides an analysis of liner design (in particular grates and shell liners) for pre-crushed feed.

Jan 1, 2012

By Y. Turen, Y. Karakas, E. Candan, C. Sahinturk

In this study, wettability between sprayable tundish lining (MgO) and molten steel was investigated by using sessile drop method. Content of glass fiber (SiO2) in the MgO varied between 0 to 8 wt% whereas mean particle sizes of the MgO were 25, 75, 150 and 300µm. Experimental results revealed that contact angle (0) of sessile drop on the MgO was not altered by the addition of glass fiber up to 1 wt.% whereas above 2 wt.% addition decreased the 0 considerably. Contact angle, 0, increased considerably with increasing MgO particle size. SEM analysis showed deposition of glass phase was present at the interface as the finer MgO particles were used.

Jan 1, 2004

By V. C. Pandolfelli, S. F. Santos, L. A. Rodrigues

Under conditions of stable crack propagation at room temperature, the elastic energy stored in ceramic materials is converted mainly to surface energy. However, at high temperatures, creep may also occur in such materials, in which case it will present a ductile behavior. This paper discusses the brittle-ductile transition of a refractory material. Stable crack propagation and creep tests were carried out under a three-point bending device. A commercial ceramic containing 63 wt-% of SiO2 and 31 wt-% of Al2O3 was used as testing material. The results revealed that the change in behavior from brittle to ductile was caused by softening of a vitreous phase present in the material&apos;s microstructure.

Jan 1, 2004

In 2009 Newmont Mining Corporation?s annual global spend on grinding media reached $94M USD, having doubled in the five years since 2004. The major contributing factor to the spend escalation during this period was unit consumable price, with total media consumption also rising as a function of annual ore tonnes milled. In an effort to better understand and manage the growth of this expenditure a significant supply chain management program was implemented. This was complemented by a series of technical initiatives focussed on grinding media specifications, quality management and the prediction of grinding media wear rate as a function of physical ore characteristics. This paper discusses the methodology and outcomes of these activities.

Nov 1, 2011

By J. Seidel

In 2009 Newmont Mining Corporation’s annual global spend on grinding media reached $94M USD, having doubled in the five years since 2004. The major contributing factor to the spend escalation during this period was unit consumable price, with total media consumption also rising as a function of annual ore tonnes milled. In an effort to better understand and manage the growth of this expenditure a significant supply chain management program was implemented. This was complemented by a series of technical initiatives focussed on grinding media specifications, quality management and the prediction of grinding media wear rate as a function of physical ore characteristics. This paper discusses the methodology and outcomes of these activities.

Jan 1, 2012

By H. Zniber El Mouhabbis

Ore dilution or stope overbreak increases the cost of production and ultimately reduces the profitability of a mining operation. The adverse economic impact of ore dilution is due to the added costs associated with the mucking, haulage, crushing, hoisting, milling, and treatment of waste rock or low grade ore in the hangingwall and footwall. One factor that could have a significant influence on stope overbreak is the undercutting of the stope into the walls. Undercutting stope walls is often necessary, in particular in narrow vein mines. Moreover, equipment size has a role in drift sizing where stope undercutting may become a must in order to fit the mobile equipment while respecting legal clearances.

May 1, 2009

By J. Seidel

In 2009 Newmont Mining Corporation’s annual global spend on grinding media reached $94M USD, having doubled in the five years since 2004. The major contributing factor to the spend escalation during this period was unit consumable price, with total media consumption also rising as a function of annual ore tonnes milled. In an effort to better understand and manage the growth of this expenditure a significant supply chain management program was implemented. This was complemented by a series of technical initiatives focussed on grinding media specifications, quality management and the prediction of grinding media wear rate as a function of physical ore characteristics. This paper discusses the methodology and outcomes of these activities.

Jan 1, 2012

By Y. Miyabayashi, K. Nishikawa, H. Nagai

JX Nippon Mining & Metals Group recovers valuable metals from end-of-life electronic products in an economical and environmentally-benign way, based on technologies that have been acquired in mining, smelting, and refining operations over time. End-of-life electronic products contain halogens and hydrocarbons. When such materials are treated in the copper smelting process, corrosion of equipment and discoloration of sulfuric acid occur. As a countermeasure to these problems, we have developed pretreatment processes that include an incinerator, exhaust gas washing towers, and a defluorination facility. By implementing these improvements, we have been able to treat a large volume of end-of-life electronic products efficiently in the copper smelting process.

Jan 1, 2014

"Process specifications for classification system design f or closed circuit grinding are identified. A computer-assisted, mass balance procedure for estimation of material size distributions and required hydrocyclone separation performance is presented.GeneralClassification equipment application involves a large number of variables, but can be greatly simplified by consideration of the following two major steps:(A) Process analysis, in which the so lids and liquid material balances and solids size distributions in the three classifier streams are determined in order to establish the required classifier separation performance.(B) Equipment selection, in which the cyclone dimensions and feed conditions are selected to yield the de sired separation, and the number of units then determined by their capacity rating."

Jan 1, 1984

By M. Dotto, T. G. Joseph, M. Curley

"Equipment selection is a key decision in mine planning. Equipment size affects decisions from pit size to the total operation cost. Particularly when replacing haulage fleets for long-life surface mining operations, mining operations focus solely on haulage productivity. Road width and specifically ramp width are significantly affected by an increase in hauler size in terms of overall strip ratio through required highwall set-backs or sterilizing of lower ore access due to required overlying ramp fill structures. In addition, in light of ever increasing regulatory and reporting emissions requirements, bigger equipment may not translate into lower emissions per tonne moved. This study analyzes hauler-scale impacts on aspects not currently incorporated into conventional mine planning, including expansion of roads to accommodate larger equipment, road layer thickness variation depending on hauler size, and fuel consumption and emissions. Results indicate that such relationships have a large impact on cost. Therefore, an expanded consideration of the capacities of increasing equipment size in mine planning is highly recommended. ¦ KEYWORDS Equipment selection, Grade resistance (GR), Haul road, Haul truck, Mine planning, Payload, Rolling resistance (RR), Total resistance (TR) RÉSUMÉ La sélection du matériel est une décision importante dans l’aménagement des mines. La taille de l’équipement a une incidence sur la prise de décisions, depuis la taille de la fosse jusqu’aux coûts totaux des activités. L’exploitation minière se concentre uniquement sur la productivité des moyens de transport, particulièrement lorsqu’il s’agit de remplacer les parcs de camions de transport dans les exploitations à ciel ouvert à longue durée de vie. La largeur des routes, et spécifiquement la largeur des descenderies sont considérablement affectées par une augmentation de la taille des camions de transport en termes du coefficient global de recouvrement qui dépend de la taille requise des parois (si les descenderies sont agrandies, les parois devront être creusées de haut en bas afin d’agrandir la taille du fond de la fosse). Il faut aussi pouvoir procéder à l’excavation des gradins les plus profonds de la mine et ainsi préserver l’accès à cette zone, ce qui pourrait devenir difficile si la quantité de stériles utilisés pour la structure des descenderies augmente et s’ils occupent une trop grande partie du fond de la fosse. En outre, au vu des exigences de plus en plus strictes en matière de réglementation et de déclaration des émissions, un équipement plus volumineux ne sera pas nécessairement synonyme d’une réduction des émissions par tonne déplacée. Cette étude analyse l’incidence de la taille des camions de transport sur des aspects actuellement non intégrés dans l’aménagement classique des mines, notamment la création de routes permettant le passage d’un équipement plus volumineux, la variation de l’épaisseur de la couche d’asphalte des routes en fonction de la taille des camions de transport, ainsi que la consommation de carburant et les émissions. Les résultats indiquent que ces relations ont des répercussions importantes sur les coûts. Ainsi, on recommande d’accorder une attention accrue aux capacités d’augmentation de la taille de l’équipement dans l’aménagement des mines. ¦ MOTS CLÉS aménagement des mines, camion de transport, charge utile, résistance au roulement, résistance due aux rampes, résistance totale, route de transport, sélection du materielINTRODUCTION Over the past five decades, the mining industry has progressively attempted to increase production rates through the use of larger haulage equipment. Each new generation of mine is designed to operate with the most recent and often bigger equipment iteration, while older mines are re-evaluated to keep pace with upgraded mixed fleets. Whereas production gains are often realized with larger equipment, there are additional aspects to consider when evaluating the feasibility of mo"

Jan 1, 2019

By K. Matsuura, M. Ohno, T. Tokunaga

"Recently, weight saving of automobiles has been strongly required to solve the global environmental problems. Mg alloys are one of the promising candidates as a new material for automobile components. However, the application of the Mg alloys is limited due to their poor corrosion resistance. In the authors’ preliminary study, an Al/Mg/Al clad sheet was fabricated by hot extrusion and subsequent hot forging. The clad sheet exhibited a high corrosion resistance and excellent super plasticity. More specifically, the elongation of the clad sheet was as high as 550%.Importantly, despite that the elongation of Al itself was only 40%without cladding with Mg, the ductility of Al was greatly improved in the form of the clad sheet. In the present study, in order to clarify the mechanism of the superplastic deformation of the Al part in the clad sheet, the microstructure evolution of the Al during the tensile de formation is investigated. The tensile tests were conducted at a temperature of 573 K and at a strain rateof1.0×10-3s-1. The Al exhibited fiber-type texture at the beginning of the tensile deformation, and brass-type texture after the elongation of 50%.INTRODUCTIONMg alloys have been gaining attention because of their excellent properties e.g. light weight, good recyclability and high electromagnetic shielding. However, their practical applications have been limited due to their poor corrosion resistance. In the authors’ previous study, in order to solve this problem, Al coating on Mg alloy by hot extrusion has been proposed, and the Al-coated Mg alloy plate was fabricated(Tokunaga, Matsuura, &Ohno,2012). The plate was hot-rolled and an Al/Mg/Al clad sheet was fabricated. No cracks or debondings were observed at the Al/Mg interface. The sheet exhibited a high corrosion resistance in a comparable level as pure Al. Also, the sheet exhibited a large and uniform elongation of 550%in a tensile test at a temperature of 573 K and at a strain rate of 1.0×10-3s-1without any breakings or debondings of the Al part(Tokunaga, Matsuura, &Ohno,2014).Mg alloys have been known to exhibit a superplastic characteristic when the grain size is small. However, it is known that the pure Al does not generally exhibit the super plasticity. As mentioned above, the Al-coated Mg alloy sheet exhibited 550% of elongation in the authors’ previous study (Tokunagaet al., 2014). However, the pure Al itself showed only 40% of elongation, while the Mg alloy itself exhibited 800% of elongation. Thus, it has been demonstrated that the pure Al was super plastically elongated when it was bonded with the Mg alloy. Generally, deformation mechanism of the super plasticity of the Mg alloy is known as a grain boundary sliding. On the other hand, the mechanism of the superplastic elongation of the pure Al is still unclear. The purpose of the present study is investigation of the deformation behavior of the Al part in the Al/Mg/Al clad sheet during tensile de formation."

Jan 1, 2018

By A. J. Russell

"This paper investigates why it is critical for a mine to accurately determine thermal rock properties and virgin rock temperatures. Theoretical simulations of deep mining production zones have demonstrated that thermal conductivity (k), virgin rock temperatures and specific heat (cp) significantly impact rock heat predictions which can be the dominant component of a mine’s heat load. Natural variability in these factors showed that realistic errors can have a significant effect on mine heat loads. This can ultimately affect miner safety and introduces risk to the viability and sustainability of a project. INTRODUCTION Accurate heat load determinations are critical to ensure that underground working conditions are maintained within legislated and mine specific parameters to safeguard the safety and productivity of employees. Underpredicting mine heat loads will result in hot underground conditions, which risk the health and safety of employees, reduce the productivity of employees or stop production if legislated temperatures in working areas are exceeded. Overestimating mine heat loads will result in increased capital and operating costs reducing the viability of the project. Over- or under- predicting the heat load for a project will increase the project risk. Heat sources in a mine can broadly be broken into two categories. These two categories are defined by Hemp and Rawlins (2014) as natural and artificial heat sources. Those sources which depend on the size, location and depth of the mining areas are defined as natural heat sources, whereas those heat sources which are a result of the actual mining activities are defined as artificial heat sources. Autocompression, or the conversion of potential energy, to enthalpy is an important consideration when determining the air temperature in the mine and its interaction with natural and artificial heat sources. It is documented by Jones (1985) and Hemp and Rawlins (2014), that the heat flow from rock in deep mines can dominate other heat sources; information from BBE’s archives show that this is between 40% and 60% of the total heat load. They also point out the importance of accurately measuring both the thermal rock properties and virgin rock temperatures (VRTs) for determining and planning the ventilation and refrigeration requirements for a mine. Both of these texts cite multiple methods for calculating the heat-flux and ultimately the heat load for the different working areas in a mine. All of these methods demonstrate that the heat flux and heat load will increase proportionally with increased thermal conductivity (k), specific heat (cp) of the rock or mineral, and VRT depending the area of the mine or mining method."

Jan 1, 2019

By Candido Bariáin

A new vapochromic material of formula [Au2Ag2(C6F5)4(bipy)2]n (bipy = 2,2´ bipyridine) has been developed and used for the detection of some volatile organic compounds as acetone either in vapour or in water solution. The material is presented in the form of powders which colour changes with acetone vapours turning from bright yellow in the absence of vapour to white in the presence of vapour. By using the sol-gel technique, the powder ? dispersed in tetraethyl orthosilicate- was easily deposited on optical fibres. In order to study experimentally the behaviour of this material for construction practical optical fibre sensors, a sol-gel material doped with the vapochromic material is deposited onto an extreme of a monomode fibre connected to a coupler. The behaviour of the material was studied for different wavelengths and concentrations of acetone vapours and acetone/water solutions. Changes up to 4dB in the reflected optical power were detected. Optical fibre sensors have many advantages over conventional ones, such as electromagnetic interference immunity, passivity behaviour, possibility of using multiplexation techniques, low weigh and little size, etc. Actually, there is an increasing interest in developing optical fibre sensor for vapour detection in the chemical industry and in fact many sensor had been developed [1]. Some are based on the deposition of a sol-gel-based material either over the core of an optical fibre [1] or onto the thinner zone of a biconically tapered optical fibre [2]. Others are based on Fabry-Perot interferometers [3]. Also there are sensors based on the reflection of the light on films, on the fluorescence of dye-doped polymer cladding in fibre, on colorimetric reagents in the core of a silica fibre or on surface plasmon [4]. The possible materials for the construction of such sensor should be colorimetric reagents able to change the colour or refractive index in the presence of same organic vapours. There are not many metallic complexes with these properties, although same interesting examples have been reported in the chemistry of palladium and platinum as [Pt(p-R-C6H4NC)4][Pd(CN)4] described by Nagel [5] and Mann [6], which reported the construction of some LEDs. We recently reported the preparation of a novel vapochromic material (Fig 1) [7] which can be used for the construction of optical fibre tapered environmental sensors [8,9] of vapour organic compounds (VOC´s). Also we reported other nickel and palladium derivatives which present this type of behaviour [10]

Oct 1, 2003

By T. Crivits, I. Bellemans, V. Cnockaert, K. Verbeken

It is well known that slag foaming can significantly complicate copper smelting processes. This is especially true for unpredictable events that generate large amounts of slag foam during a small period of time. These events are here referred to as eruptions and are typical for certain types of liquid bath furnaces such as modern top submerged lance (TSL) furnaces. A few authors already made the link between over- oxidation of the slag phase and slag foaming. In this work, the mechanism is studied in more detail and explained using the smelter chemistry and the behaviour of dynamic foam formation. Finally, the most influential parameters on the foaming behaviour of the process are presented. INTRODUCTION Copper remains one of the most important metals used in our modern society. In 2017, the annual amount of copper produced worldwide was about 23.5 million metric tons. This makes copper the third most produced metal in the world after steel and aluminium. The majority of this copper was produced by copper smelting, about 19 million metric tons, both from primary concentrate and secondary feed material as reported in ICSG’s World Copper Factbook 2018. In the past, copper smelting was mainly performed using Flash smelting, a technology developed before 1949 (Kojo, Jokilaakso & Hanniala, 2000). Nowadays, this type of smelter is being complemented by other smelter types such as ISASMELT and Ausmelt technologies. These are two types op smelter furnaces, based on the concept of a top submerged lance (TSL) furnace. These two technologies were both commercialized around 1990 (Arthur & Hunt, 2005). It is estimated by Wang et al. (2016) that at this time, both flash and TSL smelters contribute equally to the total amount of annually smelted copper. Flash smelting stays the most important technology for extracting copper from primary sources. TSL furnaces, on the other hand, are more suited than Flash smelters for the recovery of copper from secondary materials. This is because of the different ways that the feed material is inserted in both furnaces. In Flash smelters, the ore and fluxes needs to be fine and completely dry in order to be able to blow the mixture inside the burner area of the furnace. The feed material for TSL smelters show less constrains concerning humidity and particle size. The material is dropped from the top inside the molten bath. As a result, a more complex and flexible feed stream can be processed using TSL smelting (Wood, Hoang & Hughes, 2017). This feature will become more important in the future as primary copper sources gets more scarce and the need for a fully sustainable material cycle increases.

Jan 1, 2019

By J. Bouchard, M. Levesque, D. Georges-Filteau, P. Radziszewski, G. LeBlanc

"Grinding mills are infamous for their extremely low energy efficiency. This paper reports the results of an investigation that characterized energy outputs in industrial grinding mill circuits. It identifies and discusses the potential for recovering energy from grinding circuits. Agnico-Eagle Goldex Division, Mine Canadian Malartic, and New Gold New Afton Mine participated in the study by providing operating data for three semi-autogenous grinding mills and four ball mills. Results showed that on average, 79% of the supplied electrical energy was converted to heat absorbed by the slurry, 8% was lost through the drive system, and approximately 2% was transmitted to the ambient air. Only 9% of the input energy was actually used for grinding. The remaining 91%—wasted as heat—could potentially be recovered using suitable technologies or integrated energy management systems. This topic remains to be further investigated. ¦ KEYWORDS Comminution processes, Energy recovery potential, Grinding mills RÉSUMÉ Les broyeurs sont tristement célèbres pour leur rendement énergétique médiocre. Cet article présente les résultats d’une étude qui caractérise les rendements énergétiques des circuits industriels de broyage et examine les possibilités de récupération d’énergie dans les circuits de broyage. La mine Goldex d’Agnico Eagle, Mine Canadian Malartic et la mine New Afton de New Gold ont participé à l’étude en fournissant des données de fonctionnement pour trois broyeurs semi-autogènes et quatre broyeurs à boulets. Les résultats montrent qu’en moyenne 79 % de l’énergie électrique fournie sont convertis en chaleur absorbée par la pulpe, 8 % sont perdus dans le système d’entraînement et environ 2 % sont dispersés dans l’air ambiant. Seuls 9 % de l’énergie primaire sont, de fait, utilisés pour le broyage ; les 91 % restants (perdus sous forme de chaleur) peuvent potentiellement être récupérés à l’aide de technologies adaptées ou intégrées dans des systèmes de gestion de l’énergie. Cette question demeure toutefois ouverte. ¦ MOTS CLÉS broyeurs, potentiel de récupération de l’énergie, procédés de comminution INTRODUCTION Grinding is largely recognized as a very inefficient process; energy efficiency estimates range from < 1 to 2% (Fuerstenau & Abouzeid, 2002; Tromans & Meech, 2002, 2004) when comparing the input energy to that required for generating new mineral surfaces. Criticizing an “ill definition of the reference for the output energy,” Fuerstenau and Abouzeid (2002) proposed a “more meaningful baseline” would be “the energy for producing new surface area by the ¬mens.” Based on this reference, they concluded that “the ball mill is reasonably efficient energetically,” exhibiting an efficiency of approximately 15% for quartz."

Jan 1, 2019

By J. Shibata, K. Manabe, A. Fuji, N. Matsunaga, D. Murakami, Yamaguchi University, T. Suzuki

"Spent hydrodesulphurization (HDS) catalyst contains rare metals such as cobalt, nickel (Ni), molybdenum (Mo), and vanadium (V). The overall objective of this project is to develop a hydrometallurgical process that provides a degree of high recovery and selectivity of these rare metals from spent HDS catalyst. As a part of this project, this study focused on (i) development of a solvent extraction-precipitation stripping process for separation of Mo and V from solutions and (ii) optimization of grinding conditions of alkaline leaching residue for selective Ni sulfuric acid leaching against aluminum (Al). Experimental results showed that effective separation between Mo and V can be achieved by the two-stage process; solvent extraction of Mo and V with TOA (tri-n-octylamine) and precipitation stripping of V with ammonium salt at pH above 8.0. Regarding grinding conditions of alkaline leaching residue for selective Ni leaching against Al, it was found that Ni leaching efficiencies increased by providing higher grinding intensity, while the Al leaching efficiency increased and then decreased with increasing grinding intensity.INTRODUCTIONHydrodesulphurisation (HDS) catalysts account for about one third of the total worldwide catalyst consumption and are extensively used for sulphur removal in petroleum refineries (Zeng & Cheng, 2009). Fresh HDS catalysts generally contain molybdenum (Mo) and nickel (Ni) on an alumina carrier, but various elements included in the crude oil such as sulphur, carbon, silica, arsenic, cobalt, and vanadium (V) deactivates HDS catalysts during HDS reactions. As a result, spent HDS catalysts contain high concentration of rare metals. For example, regarding to Mo and V, it has been reported in the literature that the concentrations of Mo and V in the general spend HDS catalysts are generally 10-30% and 1-12%, respectively (Zeng & Cheng, 2009), which makes it economically viable to recover these rare metals (Biswas et al., 1986).Among a number of processes proposed for the recycling of rare metals from spent HDS catalysts, alkaline leaching is often used for selective Mo and V leaching (Zeng & Cheng, 2009). However, the process which provides a high degree of separation between Mo and V from a leaching solution had not been developed. Therefore, the first objective of this study was set to develop a solvent extraction-precipitation stripping process for the separation of Mo and V from solutions. More specifically, using artificial aqueous solutions of Mo and V, a series of experiments was performed to optimize the extraction pH, stripping agent, and the stripping pH."

Jan 1, 2016

By S. M. Moon

Today, underground exploration is spotlighted as an infinitely developable area. For this purpose, many tunneling technologies were created. And until this very day, many techniques are being developed for more efficient underground movement. Although previous technologies have been developed and now being used in various forms like TMB, struck propulsion method and hydraulic propulsion method, it is hard to find a robot type exploring in small scale. But development of small scale underground exploration robot is a promising research subject for its usage in examination of soil, mineral, and subterranean resources, investigation of hazardous regions, and the military. So we developed a robot that can dig and move underground, inspired from the motion of earthworm and mole cricket. Earthworm and mole cricket dig the soil in the front and draw it off backward, so that they can move forward. We developed a mechanism that uses 2 rotating solid of revolution (bits) for pulverizing the firmly united soil in the front and put it inside the body. The bits rotate in the opposite direction of each other. While moving forward, the soil in the front moves along the spiral on the bit and is saved inside the body. The soil saved inside is taken out through an outlet in the back by a ventilation system. The ventilation system on the ground blows through a hosepipe connected to inner part of the robot and the air blows off the soil. The moving mechanism of exploring underground can be classified into 2 parts. One is to fix the blade link on the soil in a form of 4-bar link. The other one is to move forward rotating the whole link. When the blade link system for movement rotates a certain degree, one blade link is fixed, while the other one is folded in. When 2 blade links of different length rotate as it is, different torque is applied on each link. By the law of action and reaction, the link that has larger torque leads the rotation and movement.

Aug 1, 2013