Intelligent Cable Shovel Excavation In Surface Mining

The cable shovel excavator is used for primary production in many surface mining operations. A major problem in shovel excavation is the variability of material diggability, resulting in varying mechanical energy input and stress loading of shovel dipper-and-tooth assembly across the working bench. This variability has a huge impact on the shovel dipper and tooth assembly in hard formations. In addition, the geometrical constraints within the working environment impose production limitations resulting in low production efficiency and high operating costs. A potential solution to the above problems is the application of an intelligent cable shovel excavation(ICSE) technology. In this paper, dynamic models of the cable shovel excavator are developed with numerical examples. These models form the basis for developing dynamic shovel simulators for an intelligent shovel excavation technology. The dynamic equations are developed using the Newton-Euler techniques. The path trajectories for efficient excavation, dynamic velocity and acceleration profiles, and dimensioned parameters for optimum feed force, torques and momentum of shovel boom-bucket assembly are modeled and used for efficient excavation. The optimum digging forces and resistances for the cable shovel excavator are modeled and used to predict optimum excavation performance.