Mining Goes Digital – Mueller et al. (Eds)
© 2019 Taylor & Francis Group, London, ISBN 978-0-367-33604-2
515
Analysis of dynamic external loads to haul truck machine
subsystems during operation in a deep underground mine
Paweł Śliwiński & Tomasz Kaniewski
KGHM Polska Miedz SA, M. Skłodowskiej-Curie, Lubin, Poland
Justyna Hebda-Sobkowicz & Radoslaw Zimroz
Faculty of Geoengineering, Mining and Geology, Wrocław University of Science and Technology,
Wybrzeże Wyspiańskiego, Wrocław, Poland
Agnieszka Wylomańska
Faculty of Pure and Applied Mathematics, Wrocław University of Science and Technology, Wybrzeże
Wyspiańskiego, Wrocław, Poland
ABSTRACT: The rough shape of the road surface in an underground deep copper ore
mine is a source of external excitations to many systems and components of the underground
mobile machines. Moreover, the geometry of mining corridors, driver’s skills and habits
(dynamics of driving style), machine conditions etc., might have a serious influence on the
overall dynamic load of such a machine. As a result, the construction of the mining machines
used in the mines of KGHM Polska Miedź SA is exposed to extreme conditions. This applies
to both operation close in mining face and driving in underground tunnels. There are cases
of serious construction node damages in the machine due to the above-mentioned reasons.
Thanks to some implemented onboard monitoring systems a lot of various types of data
are acquired on regular basis with 1 second sampling frequency. In general, the purpose of
the monitoring system was related to the daily production evaluation, maintenance, etc. In
addition, it allows to analyze processes in the long term. However, due to mentioned factors, there are many transient events that negatively affect operation and condition of the
machine and these situations are hard to identify using data acquired by the onboard system
in the current configuration. In this work, we installed a portable vibration acquisition device
(a smartphone) in a couple of machines to check if it is possible to identify experimentally
the influence of road surface quality to dynamics and condition of the machine sub-systems
(especially joints of components) and driver’s behavior (style of driving). First trials proved
that while using vibration data we are able to parametrize and compare the daily activity of
haul truck machine.
1 INTRODUCTION
The Mining production in an underground mine is a very complex process. It requires a
significant support from machines, automated mechanical systems or even robots. Extreme,
harsh conditions, gas hazard, the presence of aggressive environment (salt, dust, water), high
temperature (primary rock temperature might be c.a. 45C) – all these factors cause that the
performance of human beings as well as machines is limited. Indeed, in the case of machines,
their life time is much shorter in comparison to surface mining. The rough shape of the
road surface in underground deep copper ore mine is a critical issue from a tires maintenance perspective, however, it is also a source of external excitations to many systems and
components of the underground machines. Room and pillar technology results in a network
of corridors (tunnels). Due to imperfection of blasting technology, the geometry of mining
corridors, mentioned road surface shape, elevations of corridors, but also driver’s skills and
© 2019 Taylor & Francis Group, London, ISBN 978-0-367-33604-2
515
Analysis of dynamic external loads to haul truck machine
subsystems during operation in a deep underground mine
Paweł Śliwiński & Tomasz Kaniewski
KGHM Polska Miedz SA, M. Skłodowskiej-Curie, Lubin, Poland
Justyna Hebda-Sobkowicz & Radoslaw Zimroz
Faculty of Geoengineering, Mining and Geology, Wrocław University of Science and Technology,
Wybrzeże Wyspiańskiego, Wrocław, Poland
Agnieszka Wylomańska
Faculty of Pure and Applied Mathematics, Wrocław University of Science and Technology, Wybrzeże
Wyspiańskiego, Wrocław, Poland
ABSTRACT: The rough shape of the road surface in an underground deep copper ore
mine is a source of external excitations to many systems and components of the underground
mobile machines. Moreover, the geometry of mining corridors, driver’s skills and habits
(dynamics of driving style), machine conditions etc., might have a serious influence on the
overall dynamic load of such a machine. As a result, the construction of the mining machines
used in the mines of KGHM Polska Miedź SA is exposed to extreme conditions. This applies
to both operation close in mining face and driving in underground tunnels. There are cases
of serious construction node damages in the machine due to the above-mentioned reasons.
Thanks to some implemented onboard monitoring systems a lot of various types of data
are acquired on regular basis with 1 second sampling frequency. In general, the purpose of
the monitoring system was related to the daily production evaluation, maintenance, etc. In
addition, it allows to analyze processes in the long term. However, due to mentioned factors, there are many transient events that negatively affect operation and condition of the
machine and these situations are hard to identify using data acquired by the onboard system
in the current configuration. In this work, we installed a portable vibration acquisition device
(a smartphone) in a couple of machines to check if it is possible to identify experimentally
the influence of road surface quality to dynamics and condition of the machine sub-systems
(especially joints of components) and driver’s behavior (style of driving). First trials proved
that while using vibration data we are able to parametrize and compare the daily activity of
haul truck machine.
1 INTRODUCTION
The Mining production in an underground mine is a very complex process. It requires a
significant support from machines, automated mechanical systems or even robots. Extreme,
harsh conditions, gas hazard, the presence of aggressive environment (salt, dust, water), high
temperature (primary rock temperature might be c.a. 45C) – all these factors cause that the
performance of human beings as well as machines is limited. Indeed, in the case of machines,
their life time is much shorter in comparison to surface mining. The rough shape of the
road surface in underground deep copper ore mine is a critical issue from a tires maintenance perspective, however, it is also a source of external excitations to many systems and
components of the underground machines. Room and pillar technology results in a network
of corridors (tunnels). Due to imperfection of blasting technology, the geometry of mining
corridors, mentioned road surface shape, elevations of corridors, but also driver’s skills and