Experimental assessment of strength characteristics of anthropogenic soils in a given mining area for justification of tractor propulsion type

BACKGROUND: In mining, there is a need to develop tractors as special robotic vehicles of the robotic mining facility that can efficiently move and work on soils with low bearing capacity, in waterlogged areas and in the underwater position. A preliminary evaluation of the strength characteristics of such a heterogeneous surface of the exploitation area helps to choose an effective concept and technical characteristics of the propulsor of the tractor. AIM: Formation of the database of the physical condition and mechanical properties of the environment in which the tractor will move and operate. METHODS: In order to achieve the aim, preliminary experiments were conducted on the terrain. Typical kinds of soil sites and watered areas, including those of anthropogenic origin, of a given mining area were identified. Full-scale instrumental tests were conducted to determine: granulometric composition of soils; physical and mechanical parameters of these soils at the selected sites using the developed original types of a penetrometer and a shear rig. RESULTS: The database of numerical values of measured strength characteristics of one of the soil types (as an example) as a possible supporting surface for vehicle motion in the area of mining facility operation is presented in a graphical form. The basis of this database is the graphs according to the results of experiments on free settlement and shear with the help of dies of two types of configuration (the round die and the original caterpillar track respectively); the granulometric composition of the selected soils has been evaluated. CONCLUSION: The methodology of preliminary assessment of the soil condition by two indicators of soil strength (the rut depth z depending on the average pressure under the die) and shear (average tangential stresses τ in the contact patch on the motion of the die relative to the soil, depending on the ratio of the normal force and the traction force in the contact plane) has been developed. The 3D model of the coastal and bottom area of the technogenic mining zone has been developed. Design variants of highly efficient types of tractor propulsors are selected on the basis of prediction of maximum allowable stresses in the contact patch with the ground for the bearing surface areas of the considered area of operation.