Beisembaev K. M., Reshetnikova O. S. – Karaganda State Technical University, Karaganda, the Republic of
Kazakhstan. E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Teliman I. V. – The Ural State Mining University, Ekaterinburg, the Russian Federation.
Artemova A. A. – Karaganda State Technical University, Karaganda, the Republic of Kazakhstan.
New economic conditions lead to an expansion in the use of program-driven manipulators. Their constructive schemes
should meet the principles of universal designs, modeling and design methods in 3D. An example of calculation and
visualization of power and design parameters based by the example of table processors is considered. This makes it
possible to explore the features of the manipulators and the possibility of their testing with the typical software based on
Adams. The peculiarities of calculation of parameters for providing a given trajectory with the positioning of the construction
carried by the manipulator are revealed. And the results confirming the possibility of creating universal designs are
obtained. The peculiarities of the stress-strain state of power hydraulic cylinders and the formation of asymmetric contact
zones at the collar bush and piston are studied at work with eccentricity, which will allow solving a number of problems of
designing manipulators for difficult-extracting mineral deposits development systems.

Key words: manipulator; hydraulic cylinder; equilibrium equations; contact pressures.

REFERENCES
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power when performing the prescribed motion of the suspension gear]. Traktory i sel’khozmashiny – Tractors and
Agricultural Machinery, 2016, no. 4, pp. 42–47. (In Russ.)
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Moscow, Nauka Publ., 2006. Book 1. 383 p.
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PSO. Journal of AI and Data Mining, 2014, vol. 2, no. 2, pp. 125–133.
ISSN 0536-1028 «Известия вузов. Горный журнал», № 7, 2017 95
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podkhod [Auto-engineering of mining machinery in 3D: project-simulation approach]. Karaganda, KarSTU
Publ., 2016. 207 p.
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displacement of lava]. Izvestiya vysshikh uchebnykh zavedenii. Gornyi zhurnal – News of the Higher Institutions.
Mining Journal, 2013, no. 3, pp. 69–76. (In Russ.)
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complexes]. Resursovosproizvodiashchie, malootkhodnye i prirodookhrannye tekhnologii osvoeniia nedr: mater.
8 Mezhdunar. konf. [Proc. 8th Int. Conf. “Resource generative, low waste, and environmental technologies of mineral
exploitation”]. Moscow, Tallinn, 2009, pp. 85–87. (In Russ.)

Norov Iu. D. – Navoiy Mining and Metallurgical Combinat, Navoiy, the Republic of Uzbekistan.
Е-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Zairov Sh. Sh., Nutfulloev G. S., Tadzhiev Sh. T., Ravshanova M. Kh. – Navoiy State Mining Institute, Navoiy,
the Republic of Uzbekistan. Е-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
The construction of a deep-hole charge of explosives with the use of cumulative effect is worked out, which helps to
reduce the bench toe and expenses for drilling and blasting operations. The position in the bottom part of the well of
cumulative shell-hole influences the intensity of rock blasting destruction. Efficient parameters of a cumulative shell-hole
in the construction of the deep-hole charge of explosive are determined. It is suggested to use a lens inside the charge
of explosive over the conical coating. The lens increases the coefficient of efficiency of the charge; it turns the denotation
wave towards the shell-hole. Without a lens, the shell-hole is pressed out by the detonation wave, and with a lens – by
the incident wave. Numeric modeling of the activity of the charge of explosive with cumulative effect is fulfilled in bidimensional
position with the use of Euler and combined Euler-Lagrange finite difference algorithms. The potential and
physical peculiarities are determined for the cumulative charge operation at different focal distances with the rock of finite
thickness, and the comparison of calculation results over the two different models with experimental data.
Key words: well; construction; explosive charge; cumulative effect; bench toe; perforation depth; cumulative coating
height; detonation wave activity; numerical modeling; Euler and Euler-Lagrange finite difference algorithms.
REFERENCES
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Kremenchuk Mykhaylo Ostrogradskiy State Polytechnic University, 2004, issue 6 (29), pp. 124–126.
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charges with various shape of bottom part]. Naukovii vіsnik gіrnichogo unіversitetu: naukovo-tekhnіchnii zhurnal –
Scientific Bulletin of National Mining University, 2005, no. 3(2005), pp. 31–33.
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2004. 488 p.
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charge functioning along the reinforced concrete barrier]. Zhurnal tekhnicheskoi fiziki – Journal of Applied Physics,
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520 p.
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Tomsk University Publ., 2007. 572 p.
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pp. 128–184.
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Edited by I. S. Grigor'ev, E. Z. Meilikhov]. Moscow, Energoizdat Publ., 1991. 1232 p.
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interaction of bodies]. Novosibirsk, SB RAS Publ., 1999. 600 p.

Zharikov S. N. – The Institute of Mining, the Ural Branch of RAS, Ekaterinburg, the Russian Federation.
E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
The article raises the question of the interrelation between the processes of mineral production. Production cycles are
considered in the relationship with their energy characteristics with regard to excavation in the face in time. The article
86 «Известия вузов. Горный журнал», № 7, 2017 ISSN 0536-1028
analyzes previously published materials on the establishment of the relationship between the processes of drilling and
explosive rock mass destruction. The article considers energy characteristics of excavation in conjunction with explosive
destruction; the approach is proposed to the determination of relation of excavation and loading of rock mass in the
vehicles; promising direction of exploring technological ties is identified. The results of the analysis of modeled operation
of some rope crawler excavators of different capacity of the bucket when working in one cut are introduced. It is shown
that the energy content of explosive destruction and the energy content of excavation are characteristically connected
with the face displacement velocity. At that the total energy content of explosive destruction and excavation decreases
with the increase of the face displacement velocity. The latter indicates the fact that increase in the intensity of excavation
in the quarry leads to the reduction of energy consumption for the processes.

Key words: rock destruction; energy content of excavation; drilling and blasting operations; the interrelation between the processes of mineral production; opencast mining.

REFERENCES
1. Tangaev I. A. Energoemkost' protsessov dobychi i pererabotki poleznykh iskopaemykh [Energy content of production
processes and processing of minerals]. Moscow, Nedra Publ., 1986. 231 p.
2. Tangaev I. A. Burimost' i vzryvaemost' gornykh porod [Drillability and blastability of rock]. Moscow, Nedra Publ.,
1978. 184 p.
3. Zharikov S. N. Vzaimosviaz' udel'nykh energeticheskikh kharakteristik protsessov sharoshechnogo bureniia i
vzryvnogo razrusheniia massiva gornykh porod: dis. … kand. tekhn. nauk [The interrelation between specific energy
characteristics of the processes of roller-bit drilling and explosive destruction of rock mass. Cand. eng. sci. diss.].
Ekaterinburg, 2011. 139 p.
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the cycle “blasting-and-drilling crushing–mechanical crushing–grinding” under the opencast mining of ore deposits].
Gornyi zhurnal – Mining Journal, 2013, no. 10, pp. 83–85. (In Russ.)
5. Zharikov S. N. [Energy characteristics of the processes of roller-bit drilling and explosive destruction of rock mass].
Marksheideriia i nedropol'zovanie – Mine Surveying and Subsurface Use, 2017, vol. 1, no. 3(89), pp. 46–48. (In Russ.)
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of drilling and blasting operations]. Ustoichivoe razvitie gornykh territorii – Sustainable Development of Mountain
Territories, 2017, vol. 9, no. 1, pp. 74–80. (In Russ.)
7. Zharikov S. N. [Roller-bit drilling and blasting destruction of rocks]. Vestnik Assotsiatsii burovykh podriadchikov –
Reporter of the Association of Drilling Contractors, 2016, no. 3, pp. 36–38. (In Russ.)
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zhurnal – Mining Journal, 2009, no. 6, pp. 60–62. (In Russ.)
9. Zharikov S. N. [Regarding the interrelation between the energy content of drilling and rock blasting]. Vestnik
Magnitogorskogo gosudarstvennogo tekhnicheskogo universiteta – Vestnik of Nosov Magnitogorsk State Technical
University, 2009, no. 4, pp. 5–8. (In Russ.)
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FIZMATLIT Publ., 2002. 832 p.
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[Science of industrial explosives. Edited by G. P. Demidiuk and N. S. Bakharevich]. Moscow, Nedra Publ., 1980. 453 p.
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with an explosion"]. Ekaterinburg, UrSMU Publ., 2008. 202 p.
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physics of an explosion. Edited by V. V. Adushkin]. Moscow, Nauka Publ., 2004. 440 p.
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quarry operating area"]. Leningrad, LGI Publ., 1986. 54 p.
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of mining]. Fundamental'nye i prikladnye voprosy gornykh nauk – Fundamental and Applied Problems of Mining
Sciences, 2017, vol. 4, no. 1, pp. 179–186. (In Russ.)

Tagil'tsev S. N., Kibanova T. N. – The Ural State Mining University, Ekaterinburg, the Russian Federation. E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

Geodynamic (tectonic) stress state of the upper part of the earth crust is manifested by the presence of the main normal
stresses, which, as a rule, exceed geostatic stresses from the rock weight. Extension zones form sections with the lower
bearing capacities in geological strata. From the perspective of hydrogeology, sections of extension are the most waterbearing;
they contribute to the formation of high filtration properties at the local section of rock massif. In the Urals, in case
of shears intersecting, extension zones usually occur in the northern and southern sectors, whereas the compression
zones, correspondingly, in the western and eastern sectors. In the field of modern tectonic stresses under the intersection
of multidirectional faults and the faults of various kinematic type, the zones of extension and compression may occur,
which should be studied to estimate the safety of the buildings and structures construction and exploitation, as well as to
search for the sections with higher filtration properties in rock massif for water supply. Modern fulfillment of the complex of
geophysical, geodetic, and hydrogeomechanical investigations at the stage of pioneering or at the initial operating period,
makes it possible to reveal the reasons for the possible deformations and, perhaps, save a building from destruction.

Key words: hydrogeomechanical structures; extension zones; compression zones; deformation of a building.

REFERENCES
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Ekaterinburg, UrSMU Publ., 2017. 240 p.
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