AU2014295812B2 - System for use in mounting an exchangeable wear lining element - Google Patents

System for use in mounting an exchangeable wear lining element Download PDF

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Publication number
AU2014295812B2
AU2014295812B2 AU2014295812A AU2014295812A AU2014295812B2 AU 2014295812 B2 AU2014295812 B2 AU 2014295812B2 AU 2014295812 A AU2014295812 A AU 2014295812A AU 2014295812 A AU2014295812 A AU 2014295812A AU 2014295812 B2 AU2014295812 B2 AU 2014295812B2
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Australia
Prior art keywords
holes
mounting
lining element
wear lining
sensor
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AU2014295812A
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AU2014295812A1 (en
Inventor
David Andrew KRAUTZ
Gregory Oliver Valler
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Russell Mineral Equipment Pty Ltd
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Russell Mineral Equipment Pty Ltd
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Priority claimed from AU2013902709A external-priority patent/AU2013902709A0/en
Application filed by Russell Mineral Equipment Pty Ltd filed Critical Russell Mineral Equipment Pty Ltd
Priority to AU2014295812A priority Critical patent/AU2014295812B2/en
Publication of AU2014295812A1 publication Critical patent/AU2014295812A1/en
Application granted granted Critical
Publication of AU2014295812B2 publication Critical patent/AU2014295812B2/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18—Details
    • B02C17/22—Lining for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40003—Move end effector so that image center is shifted to desired position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40082—Docking, align object on end effector with target

Abstract

A method of mounting an exchangeable wear lining element at an inner surface of a mill wall that is subject to wear, and said wear lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining element during a mounting operation. The wall is provided a first set of holes and the wear lining element is equipped with a second set of holes. The wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through the first set and second set of holes. At least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set or second set of holes, in such a manner that the field of view of said sensor will be at least one of the second set of holes when said sensor is inside one of the holes of the first set of holes, or will be at least one of the first set of holes when said sensor is inside one of the holes of the second set of holes. The sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view, and provide an image and with the guidance of said image the mounting position of said wear lining element at the wall can be determined.

Description

The present invention relates to a control and positioning system for use in mounting an exchangeable wear lining element to the shell of a rotating drum of an ore milh
BACKGROUND
Wear lining elements (sacrificial liners) are secured to the internal casing of ore mills. They are typically provided as segments, and they are secured internally of the mill shell by holts which are conventionally fitted from the internal side of the shell and project through apertures in the liners and through mounting bores in the shell, A nut and sealing washer are threaded onto and tightened onto each bolt from outside the shell, drawing the liner to the inner surface of the shell. An example of a conventional liner segment fastener system is shown in US Patent No. 4018393 (Larsen). Typically the bolts used for such application are referred to as linerbolts.
Attempts have been made to improve wear lining segment fastening, which results in easier removal and replacement of liner segments. For example, US Patent No.6082646 (Clarke et al.) discloses a fastening system for liner assemblies of ore mills which threads bolts from the external side, so that the holt bears against the external side of the mill shell, and a nut is used on the internal side sitting in a recess formed in the liner segment.
A more recent wear lining segment fastening system is disclosed in WQ2QQ9/008810 (Metso Mineral (Wear Protection) AB) in which the wear lining elements are equipped with threaded holes with associated guide pegs.
Various types of lifting and handling equipment, such as lifting cranes, are used for placement of the wear lining elements against the internal casing of the mill. Such handling equipment typically comprises a lifting arrangement, such as an arm or a lifting crane, that can be manoeuvred inside the mill, and that is provided at its free end with a grip arrangement with which a wear lining element can be gripped and supported, With the aid of the lifting crane, the grip arrangement and thus the lining element can be displaced essentially freely in space or with at least two or three degrees of translation^ freedom in space, i.e. in the x-, y- and z-directions.
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With the aid of a number of rotational degrees of freedom its attitude also can normally be controlled, for example the roll, pitch and yaw angles of the grip arrangement.
One of the major problems when exchanging drum linings is the difficulty of positioning and adapting each individual wear lining element, such that its mounting hole or attachment means are aligned with the attachment (fixing) holes that are arranged in the mill easing before the wear lining element can be moved into place, and the fasteners secured thereto. During mounting of wear lining elements, it is typical for the crane operator, by radio or similar, to be in wireless communication with personnel who are in the close vicinity of the intended mounting location of the wear lining element or a support surface on the wall (mill casing). The crane operator receives commands and information about how the wear lining element, is to be oriented in order for the mounting holes of the wear lining element to be located in line with the mounting holes of the wall. In order to provide the information required to make it possible for the crane operator to align the mounting holes of the wear lining element with the fixing holes in the mill easing , the personnel must be present dangerously close to the mounting location and, in certain cases, under the wear lining element that is suspended from the crane arm. It should be understood that this operation is quite unsafe, not least because the wear lining elements that are being exchanged are typically very heavy.
A prior art system which attempts to improve the control and positioning of a wear lining element relative to the internal surface of a mill casing (or wall), has been proposed and marketed by the present applicant as UNERVISJON ‘ . This system uses two sensor units with 2D cameras and integrated infrared illumination placed into the mounting (bolt) holes of a wear lining element. This provides position and alignment of the sensor unit. The two camera views are wirelessly transmitted to a decoding unit and displayed on a monitor placed so that, the reline machine operator can use the view to align the liner with the fixing holes in two dimensions. The infrared illumination avoids shadow effects from work lights used inside and outside the mill, as it would be a problem with visible light illumination. The edge of the liner hole is visible and is used as a reference to align the fixing holes.
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Another system, which attempts to improve the control and positioning of a wear lining element relative to the internal surface of a mill casing (or wall) is disclosed in WO2013/036194 (Metso Minerals (Sweden) AB). In this system a two-dimensional sensor (an image recording camera) is disposed externally of the mill, and used to determine the relative position of the wear lining element and a determined mounting position on the inner surface of the wall. In this arrangement the camera sees the wear lining element through a mounting hole in the wall. This system has certain disadvantages, the first of which is that as the two-dimensional sensor (camera) is outside the mill, its field of vision is restricted to some extent. Secondly as it is a two dimensional sensor it. can only be used for the relative position in an X-Y plane, and cannot be used to determine the relative depth of the wear lining element relative to the wall.
A weakness of both aboyementioned systems is that the information presented to the operator is in 2D (an X-Y plane) without any depth information. This means alignment of the fixing holes in the wear liner and mill shell is not usually possible. The wear lining element could be presented with one mounting hole closer to the mill casing than another. This skewing of the liner will result in collision with adjacent wear lining elements, preventing placement of the liner against tire mill shell. The operator must therefore be able to use other references to allow fitting.
Furthermore the current 2D systems cannot be employed in automated mill relining operations.
The present invention seeks to overcome at least some of the abovementioned disadvantages by providing an improved control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall surface using three-dimensional sensors.
SUMMARY OF THE INVENTION
According to a first aspect the present invention consi sts in a control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being die shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a manoeuvrable arm that is a component of a lifting arrangement that is controlled during the handling of the wear lining element during a mounting operation, whereby said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining
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PCT/AU2014/050134 element is intended- to be tightened against the -surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of said sensor will be at least one of said second set of mounting holes when said sensor is inside one of said holes of said first set of fixing holes, or will be at least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within i ts field of view and provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
Preferably said at least one sensor is two sensors, each fitted to holes of either the first set of fixing holes or second set of mounting holes.
Preferably said three-dimensional sensor is introduced from outside said wall into one of said holes of said first set of fixing holes i t does not extend outside the one of said fixing holes beyond the inner surface of said wall.
Preferably said three-dimensional sensor is anyone of a laser device, range camera, time of flight camera or a field sensor.
Preferably the. control and positioning system further comprising a CPU/control unit.
Preferably the control and positioning system further comprising a monitor,
Preferably said mounting operation is controlled by an operator in the vicinity of said mounting operation and capable of viewing said monitor.
Preferably said mounting operation is controlled by an operator remote from said mounting operation and capable of viewing said monitor, said CPU/control unit and said monitor in communication with said sensors using wireless and/or cable communication.
Preferably said second set of mounting holes on said wear lining element are blind holes.
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According to a second aspect the present invention consists in a control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a manoeuvrable arm. that is a component of a lifting arrangement that is controlled during the handling of the wear lining element during a mounting operation by a crane operator, whereby said wall is provided with, at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that two three-dimensional sensors are arranged to be introduced into respective holes of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of each said sensor will be a respective one of said second set of mounting holes when each said sensor is inside one of said holes of said first set of fixing holes, or a respective one of said first set of fixing holes when each said sensor is inside one of said holes of said second set of mounting holes, whereby said sensors are arranged to transmit signals that represents relative position between the themselves and the respective holes within their field of view and in combination provide an i mage and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
According to a third aspectthe present invention consists in a method of mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear' lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining element during a mounting operation, whereby said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that, are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of said sensor will be at least one of said
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PCT/AU2014/050134 second set of mounting holes when said sensor is inside one of said holes of said first set of fixing holes, or will be at least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view and provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
According to a fourth aspect the present invention consists in a method of mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining element during a mounting operation, both said wear lining element and said mill casing having a plurality of attachment holes which must be aligned with each other for mounting of said wear lining element to said mill casing, whereby at least one three-dimensional sensor is placed within one of said attachment holes on either said wear liner element or mill casing so that it has within its field of view at least one attachment hole of the other component, and arranged to transmit a signal that represents between itself and said at least one attachment hole of the other component within its field of view, and provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
BRIEF DESCRIPTION OF THE DRAWINGS
A preferred embodiment of the invention will now be described, by way of example only, with reference to the accompanying drawings in which:
Fig. 1 is a cross-sectional view of a first embodiment of part of a mill casing using a control and positioning system during positioning of a wear lining element during a mounting operation according to the present invention.
Fig. 2 is a cross-sectional view7 of a second embodiment of part of a mill casing using a control and posi tioning sy stem during positioning of a wear lining element during a mounting operation according to the present invention.
Fig. 3 is perspective view of the liner and part mi ll casing of Fig. 1.
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Fig. 4 is a cross-sectional view of a third embodiment of part of a mill casing using a control and positioning system during positioning of a wear lining element during a mounting operation according to the present invention.
Fig. 5 a schematic representation of the control and positioning system being employed in Fig. 1 5 where the operator carrying out the mounting of operation is in the vicinity of the mill site.
Fig. 6 a schematic representation of the control and positioning system being employed in Fig. 1 where the operator carrying out the mounting of operation is remote from of the mill site.
BEST MODE OF CARRYING OUT INVENTION
Figs. 1, 3 and 5 depict a first embodiment of a mill casing 3 of an ore mill with a control and positioning system 10 during positioning of a wear lining element (liner) 1. Mill casing 3 is the shelf of a rotating drum of an. ore grinding mill, but in these figures only a part of mill casing 3 is shown for ease of reference.
Mill casing (rotating drum) 3 is for a SAG or ball ore mill of a conventional type to which liner 1 is secured to using conventional liner attachment means, such as liner bolts (not shown). Mill casing 3 has an internal backing layer 4, typically of rubber, against which liner 1 abuts when secured thereto. A manoeuvrable handling arm 15 is used to support, and place liner 1 against mill casing 3 in a mounting operation.
Mill casing 3 has a plurality of fixing holes 7, one of which is shown in Fig. 1. Liner 1 has a plurality of mounting holes 2, one of which is shown in Fig.l.
In this embodiment control and positioning system 10 comprises two three-dimensional (3D) sensors 5, connected to a CPU/control unit 6 and monitor 8 which when in use can be used for controlling the placement of liner 1. Monitor 8 is preferably able to provide two-dimensional and three-dimensional information. Sensors 5 are wirelessly connected to CPU/control unit 6,
It should be understood that the term “three-dimensional sensor” means a sensor that can sense and provide data of movement in three dimensions, eg movement in a three axes X-Y-Z coordinate system.
In this embodiment each sensor 5 is introduced from outside of mill casing 3, and placed into a fixing hole 7. Preferably each sensor 5 does not extend through its respective fixing hole 7 into the interior of the mill, so as to minimise risk of damage thereto, but located sufficiently close to
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PCT/AU2014/050134 the interior (mating) surface end of its respective fixing hole 7, so that it has a wide field of vision Vw depicted by dotted lines. As can be seen in Fig. 1 the field of vision Vw of sensor 5 is much wider in this location, as compared to positioning it outside of mill casing 3, shown by the representation of sensor 5A having a narrower field of vision Vn.
Control and positioning system 10 using three-dimensional sensors 5 is able to use mounting holes 2 as the necessary reference identifiers on liner 1, and as sensors 5 are within respective fixing holes 7, they are themselves the reference identifiers for mill casing 3. As shown in Fig. 3, liner I having its mounting holes 2 as the reference markers can be sensed three dimensionally, as represented by the Xl-Yl-Zl and X2-Y2-Z2 axes. The Output from the two sensors 5 in10 combination can be used for controlling the placement of liner 1. In use, a crane (or liner handling) operator 12 can view an image on monitor 8 to assist in placement of liner 1. The image being provided for operator 12 maybe in 3D representation, 2D or preferably 2‘AD (a 2D picture of the X-Y plane with distance readout for the Z axis).
Whilst Fig. 5 depicts placement of liner 1 carried out by operator 12 located in the vicinity of the mill, it should be understood that alternatively as shown in Fig. 6 operator 12 may instead be remotely located from the mill site as is possible using the Internet or a LAN, using wireless and/or cable based communication.
In a second embodiment as shown in Fig, 2, three-dimensional sensors 5 of control and positioning system 10 are actually placed in respective mounting holes 2 in liner 1., and the field of vision Vw is where liner 1 is to be placed. In this embodiment, each fixing hole 7 is the necessary reference identifier. Like that in the first embodiment, an operator can see an image on monitor 8 to assist in placement of liner 1.
Fig, 4 depicts a third embodiment which Is similar to the first embodiment, in that each threedimensional sensor 5 is in a fixing hole 7, however in this embodiment the liner 1A has a blind mounting hole 2A.
The use of three-dimensional sensors 5, by providing the relative depth (Z axis data) of the wear lining element relative to the wall» not only overcomes the liner skewing problem associated with the prior art, but will also reduce the time needed to place a liner.
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In the abovementioned embodiments two three-dimensional sensors 5 are employed. However, it should be understood that in other not shown embodiments a single three-dimensional sensor 5 could be used. The problem with using a single sensor 5 is that you must be able to determine the orientation of liner 1,1 A. In such arrangement the single three-dimensional sensor 5 would either require a field of vision that is wide enough to view two holes on the opposed component, or use some other additional reference identifier, such as that on handling arm 15 that can be part of the control system. Another alternate method of determining orientation of liner 1,1 A would he to use features on the face of liner 1,1 A or mill casing 3 such as curvature to derive the departure from the required orientation. It is possible to use a combination of these inputs.
It should also be understood that more than two three-dimensional sensors 5, say three sensors 5, could be used to improve alignment.
It should be understood that the control of the positioning system 10 need not be controlled by an operator, but instead sensors 5 and CPU/eontro.1 unit 6 of system 10, may be pail of an automatic mill reline machine.
It should also be understood that the three dimensional sensor 5 may be of any suitable device capable of 3D sensing, including a laser device, range camera, time of flight camera or field sensor, or a combination of such devices. The field sensor may be of any suitable type, including a capacitance field sensor, magnetic field sensor or electrostatic field sensor.
In the abovementioned embodiments “fixing holes 7” in mill casing 3 and “mounting holes 2” in liner 1, are all attachment holes, The terms “fixing” and “mounting” have been used to differentiate the attachment holes in mill casing 3 from those In liner 1.
The terms comprising and including (and their grammatical variations) as used herein are used in inclusive sense find not in the exclusive sense of consisting only of.
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Claims (12)

  1. CLAIMS:
    1. A control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the
    5 free end of a manoeuvrable ami that is a component of a lifting arrangement that is controlled during the handling of the wear lining element during a mounting operation, whereby said wall is provided with at least a first set of fixing holes and the wear lining element i s equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that
    10 are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set. of fixing holes or said second set of mounting holes, in such a manner that the field of view of said sensor will be at least one of said second set of mounting holes when said sensor is inside one of said holes of said first set
    15 of fixing holes, or will Ire at .least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view and provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be
    20 determined.
  2. 2. A control and positioning system as claimed in claim 1, wherein said at least one sensor is two sensors, each fitted to holes of either the first set of fixing holes or second set of mounting holes,
  3. 3. A control and positioning system as claimed in claim 1, wherein said three-dimensional
    25 sensor is introduced from outside said wail into one of said holes of said first, set of fixing holes it does not extend outside the one of said fixing holes beyond the inner surface of said wall.
  4. 4. A control and positioning system as claimed in claim 1, wherein said three-dimensional sensor is anyone of a laser device, range camera, time of flight camera or a field sensor.
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    PCT/AU2014/050134
  5. 5. A control and positioning system as claimed in claim 1, further comprising a CPU/control unit.
  6. 6. A control and positioning system as claimed in claim 5, further comprising a monitor.
  7. 7. A control and positioning system as claimed in claim 6, wherein said mounting operation is controlled by an operator in the vicinity of said mounting operation and capable of viewing said monitor.
  8. 8. A control and positioning system as claimed in claim 6, wherein said mounting operation is controlled by an operator remote from said mounting operation and capable of viewing said monitor, said CPU/control unit and said monitor in communication with said sensors using wireless and/or cable communication.
  9. 9. A control and positioning system as claimed in claim 1, wherein said second set of mounting holes on said wear lining element are blind holes.
  10. 10. A control and positioning system for use in: mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a manoeuvrable arm that is a component of a lifting arrangement that is controlled during the handling of the wear lining element during a mounting operation by a crane operator, whereby said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that two three-dimensional sensors are arranged to be introduced into respective holes of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of each said sensor will be a respective one of said second set of mounting holes when each said sensor is inside one of said holes of said first set of fixing holes, or a respective one of said first set of fixing holes when each said sensor is inside one of said holes of said second set of mounting holes, whereby said sensors are arranged to transmit signals that represents relative position between the themselves and the respective holes within their field of view and in combination provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
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    PCT/AU2014/050134
  11. 11. A method of mounting an exchangeable wear lining element at an: inner -surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining element during a mounting operation, whereby said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of said sensor will be at least one of said second set of mounting holes when said sensor is inside one of said holes of said first set af fixing holes, or will be at least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view and provide an image and with the guidance of said image the mounting position: of said wear lining element at said wall can be determined.
  12. 12. A method of mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining element during a mounting operation, both said wear lining element and said mill casing having a plurality of attachment holes which must be aligned with each other for mounting of said wear lining element to said mill casing, whereby at least one three-dimensional sensor is placed within one of said attachment holes on either said wear liner element or mill casing so that it has within its field of view at least one attachment hole of the other component, and arranged to transmit a signal that represents between itself and said at least one attachment hole of the other component within its field of view, and provide an image and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
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    FIG 1
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    FIG 2 WO2^«wU3
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    FIG 3
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    FIG 5
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    6/6 zK-m
    FIG 6
AU2014295812A 2013-07-22 2014-07-18 System for use in mounting an exchangeable wear lining element Active AU2014295812B2 (en)

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Application Number Priority Date Filing Date Title
AU2013902709 2013-07-22
AU2013902709A AU2013902709A0 (en) 2013-07-22 System For Use in Mounting An Exchangeable Wear Lining Element
AU2014295812A AU2014295812B2 (en) 2013-07-22 2014-07-18 System for use in mounting an exchangeable wear lining element
PCT/AU2014/050134 WO2015010163A1 (en) 2013-07-22 2014-07-18 System for use in mounting an exchangeable wear lining element

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AU2014295812B2 true AU2014295812B2 (en) 2018-03-15

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