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ArticleName Multifunction walking roof support for underground mining of stratified deposits and placers
DOI 10.17580/em.2020.02.14
ArticleAuthor Nikitenko M. S., Malakhov Yu. V., Kizilov S. A., Zhuravlev S. S.

Federal Research Center for Coal and Coal Chemistry, Siberian Branch, Russian Academy of Sciences, Kemerovo, Russia:

Nikitenko M. S., Candidate of Engineering Sciences, Researcher,
Malakhov Yu. V., Leading Engineer
Kizilov S. A., Leading Engineer


Institute of Computational Technologies, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia:
Zhuravlev S. S., Junior Researcher


The article shows the urgency of technological advance in coal mining in difficult geological conditions and describes the application prospects for an integrated multi-function platform in underground mining of different minerals. The international practice of mobile roof support design and creation of a work environment in mines is reviewed. The authors propose an integrated multi-function platform as a walking roof support module which ensures safe and efficient mining in difficult geological conditions. Within R&D project supported by the Foundation for Assistance to Small Innovative Enterprises in Science and Technology, Project No. 2566GS1/41340, the kinematics of the platform is developed so that to ensure uniform loading of the walking support systems owing to constructional linkage between the support units, and to provide stability of the support system on a composite topography floor thanks to four couples of hinge supports with adjustability of height and position. Arrangement of structural elements is proposed, and their kinematic linkage is described.

The walking support advance algorithm is developed in the form of a working cycle. Within R&D project supported by the Russian Foundation for Basic Research, Project No. 18-37-00356, the control operation algorithm and control automation circuit are developed for the walking roof support. The automated control is integrable in the standard electrohydraulic control system of mine roof supports. As a result, the walking roof support with the automated control can be considered as a framework (a platform solution) for the robotic system engineering for safe and efficient underground mining of stratified deposits and diamond placers.

The study was supported by the Russian Foundation for Basic Research, Project No. 19-35-90075-19.

keywords Mining, underground mining, complex environment, thick seam, steeply inclined coal seam, mining machines, powered roof support, walking support, control algorithm, kinematic scheme, automated control system, robotic complex

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