Authors: M.S. Mamaeva, A.A. Khoreshok, E.G. Kuzin, Yu.S. Udalova

Title of the article: Development physico-empirical model of soil adhesion to excavator bucket

Year: 2026, Issue: 3, Pages: 105-118

Branch of knowledge: 2.8.8. Geotechnology, Mining machines (engineering)

Index UDK: 622.64

DOI: 10.26730/1816-4528-2026-3-105-118

Abstract: This article examines the pressing issue of increasing the productivity of hydraulic reverse shovel excavators by reducing the adhesion of moisture-containing soils. Excessive soil adhesion to the working parts of excavating machines, as well as to the bodies of dump trucks, is typical for most mining operations in the spring and autumn. This paper analyzes the literature and examines the limitations of existing methods for quantitatively assessing soil adhesion to the structural elements of earthmoving machines. A comprehensive approach to digitalizing the excavation process is proposed, integrating DEM modeling, kinematic analysis of working equipment based on the Denavit-Hartenberg formalism, and data from specialized measurement systems. A laboratory setup has been developed that reproduces the full dynamic "dig-lift-unload" cycle with simultaneous recording of the mass of adhering soil and its moisture content. A novel method for quantitatively assessing bucket "dead zones" is introduced, based on the analysis of surface normal vectors (n_z>0.5, n_x<-0.3), enabling an informed choice of working element design (bucket type). An adaptive physical-empirical adhesion model is constructed, taking into account eight key factors: moisture content, plasticity index, temperature, contact pressure, roughness, contact angle, acidity, and organic content. A formula is proposed for calculating the hourly productivity of an excavator under operating conditions, taking into account the calculated bucket filling factor, which accounts for rock mass adhesion. Experimental data on the dependence of soil stickiness (tearaway force) on their moisture content are obtained, showing a high determination coefficient R^2=0.92 corresponding to a normal (Gaussian) distribution. It has been shown that the maximum tear-off force (tack) for silty loams (based on kaolinite clays, which are prevalent in Kuzbass) is achieved at a moisture content of ω=24.3%. The proposed normal analysis method enables the informed selection of working tool designs for working with clayey rocks. Implementation of the developed model at coal mines allows for a 15–20% reduction in productivity losses through rational operating modes and maintenance (timely cleaning and lining renewal). The model demonstrates high adaptability to various deposits.

Key words: hydraulic excavator reverse shovel wet loams moisture-containing soils soil adhesion digitalization of the digging process DEM modeling kinematic model Denavit-Hartenberg formalism laboratory setup physical-empirical model determination of "dead zones"

Receiving date: 04.05.2025

Approval date: 15.05.2025

Publication date: 04.06.2026

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