CA2948927C - Robotic machine for removing and inserting trommel screens, and operating method thereof - Google Patents
Robotic machine for removing and inserting trommel screens, and operating method thereof Download PDFInfo
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- CA2948927C CA2948927C CA2948927A CA2948927A CA2948927C CA 2948927 C CA2948927 C CA 2948927C CA 2948927 A CA2948927 A CA 2948927A CA 2948927 A CA2948927 A CA 2948927A CA 2948927 C CA2948927 C CA 2948927C
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- robotic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a robotic machine for removing and inserting trommel screens or panels (19), said machine comprising: a tool for grabbing the panel; a robotic arm with 6 degrees of freedom which manipulates the tool and which permits the panel to be removed and replaced; and a mobile main beam which is anchored to the structure of the building or site of installation or assembly, and which permits the manipulator or robotic arm to be moved and inserted inside the trommel, in order to carry out the operation. The invention also relates to the method for operating said robotic machine.
Description
ROBOTIC MACHINE FOR REMOVING AND INSERTING TROMMEL SCREENS, AND
OPERATING METHOD THEREOF
Field The present invention relates to the removal and replacement of wear elements, such as "screens or panels" used in the separation process performed by the trommel.
The invention relates to a robotic machine for removing and inserting trommel screens or panels. Furthermore, the invention contemplates the associated method.
Background In the grinding process of different concentrating plants using SAG mills, at the exit from the mill a screening based on size is required, and this function is performed by a trommel, which is an equipment that rotates integrally with the SAG mill and the inner surface of said trommel is covered with sorting screens or panels which have slots. Due to the impact of the mineral on the screens, these are subjected to constant wear, for which reason they must be changed continuously.
Screens or panels are changed in a completely manual manner and must be coordinated with the overall maintenance of the mill, which generates a series of interferences that make it impossible to change all the panels during the mill maintenance period.
Furthermore, the very small work area makes it impossible to perform tasks in parallel.
Among the activities interfering with the panel changing process, the following can be mentioned:
= Changing the sieve: The crane passes over the trommel with the sieve, which means stopping work and clearing the area.
= Maintenance of water injection pipes: The two pipes
OPERATING METHOD THEREOF
Field The present invention relates to the removal and replacement of wear elements, such as "screens or panels" used in the separation process performed by the trommel.
The invention relates to a robotic machine for removing and inserting trommel screens or panels. Furthermore, the invention contemplates the associated method.
Background In the grinding process of different concentrating plants using SAG mills, at the exit from the mill a screening based on size is required, and this function is performed by a trommel, which is an equipment that rotates integrally with the SAG mill and the inner surface of said trommel is covered with sorting screens or panels which have slots. Due to the impact of the mineral on the screens, these are subjected to constant wear, for which reason they must be changed continuously.
Screens or panels are changed in a completely manual manner and must be coordinated with the overall maintenance of the mill, which generates a series of interferences that make it impossible to change all the panels during the mill maintenance period.
Furthermore, the very small work area makes it impossible to perform tasks in parallel.
Among the activities interfering with the panel changing process, the following can be mentioned:
= Changing the sieve: The crane passes over the trommel with the sieve, which means stopping work and clearing the area.
= Maintenance of water injection pipes: The two pipes
2 are removed and taken to a point where they are cleaned. Their center of mass is at a point inside the trommel that makes the passage of slings difficult.
= SAG maintenance requires constant rotations of the SAG-trammel assembly, which involves a system lockout-tagout (LOTO) process, reducing effective work times. Trommel works must be adapted to the mill works.
The activity of changing panels requires a series of preliminary jobs, such as:
= Removing shell = Cleaning the interior = Installing of scaffolds = Installing life safety rope = Determining the panels to be changed = Stocking new panels After performing the preliminary activities, removal of the panels commences, which is carried out using two crowbars with a heel inserted between panels on one side and hit with a mallet to assure reaching the lower part thereof. Then the crowbars are lowered at the same time until the panel is completely separated from the fixing rod or rail. At that point, the maintenance operators grab the panel from the sides and by means of horizontal movements, detach the edge of the panel from the missing rod. Slings are attached to the panel and the trommel is removed to the surface of the mill.
New panels are installed following the process opposite that for removal, adding the application of the impact with the mallet for introducing the panel into the fixing rail. This action is very dangerous for maintenance operators because the rebound of the mallet when it impacts the rubber in the panel requires enormous skill and care in order to not be hit.
= SAG maintenance requires constant rotations of the SAG-trammel assembly, which involves a system lockout-tagout (LOTO) process, reducing effective work times. Trommel works must be adapted to the mill works.
The activity of changing panels requires a series of preliminary jobs, such as:
= Removing shell = Cleaning the interior = Installing of scaffolds = Installing life safety rope = Determining the panels to be changed = Stocking new panels After performing the preliminary activities, removal of the panels commences, which is carried out using two crowbars with a heel inserted between panels on one side and hit with a mallet to assure reaching the lower part thereof. Then the crowbars are lowered at the same time until the panel is completely separated from the fixing rod or rail. At that point, the maintenance operators grab the panel from the sides and by means of horizontal movements, detach the edge of the panel from the missing rod. Slings are attached to the panel and the trommel is removed to the surface of the mill.
New panels are installed following the process opposite that for removal, adding the application of the impact with the mallet for introducing the panel into the fixing rail. This action is very dangerous for maintenance operators because the rebound of the mallet when it impacts the rubber in the panel requires enormous skill and care in order to not be hit.
3 Drawbacks of the current process include Production: the current process does not allow complete replacement of the panels, which entails a risk when leaving worn panels that may potentially fail during the next operating period. There is a risk that production will be stopped to change a panel that breaks.
Occupational health and safety:
o The current process involves getting into the trommel, which is intrinsically dangerous, working at a height and material falling from the trommel, among others.
o Maintenance operators must handle the panels, which entails a high physical demand and risks of being hit or trapped when removing and inserting panels.
The state of the art comprises national application 3496-2012, which relates to a pick-up and release system comprising a pick-up mechanism comprising a robotic arm, a pick-up device assembled in a rotational manner on the robotic arm, a movable insertion device. Said application furthermore discloses a method for grabbing and releasing an object with a pick-up system. This application does not disclose a method involving a robotic arm for removing and inserting trommel screens or panels.
In addition, national application 2642-2005 discloses a robotic method for the process of removing bolts from SAG mills, which in turn comprises providing a robotic arm with at least 5 degrees of freedom, grabbing a nut cutting tool from a tool carrier rack, cutting or releasing the nut and grabbing a tool for removing bolts and knocking a securing bolt out of the mill.
Application 2642-2005 discloses a process for removing bolts but it does not disclose a method for removing and inserting trommel screens or panels.
Occupational health and safety:
o The current process involves getting into the trommel, which is intrinsically dangerous, working at a height and material falling from the trommel, among others.
o Maintenance operators must handle the panels, which entails a high physical demand and risks of being hit or trapped when removing and inserting panels.
The state of the art comprises national application 3496-2012, which relates to a pick-up and release system comprising a pick-up mechanism comprising a robotic arm, a pick-up device assembled in a rotational manner on the robotic arm, a movable insertion device. Said application furthermore discloses a method for grabbing and releasing an object with a pick-up system. This application does not disclose a method involving a robotic arm for removing and inserting trommel screens or panels.
In addition, national application 2642-2005 discloses a robotic method for the process of removing bolts from SAG mills, which in turn comprises providing a robotic arm with at least 5 degrees of freedom, grabbing a nut cutting tool from a tool carrier rack, cutting or releasing the nut and grabbing a tool for removing bolts and knocking a securing bolt out of the mill.
Application 2642-2005 discloses a process for removing bolts but it does not disclose a method for removing and inserting trommel screens or panels.
4 There are not documents in the state of the art referring to a method for removing and inserting trommel screens or panels;
therefore, there is a need to provide a method that allows automating the operation for changing panels, removing people from this operation and reducing times for this activity.
The invention reduces the times for changing a panel, which in turn allows being able to replace most or all of the panels during maintenance, being adapted to the available time or times without affecting the rest of the critical maintenance jobs.
Reliability of trommel operation therefore improves given that the risk of emergency stops for replacing broken panels decreases.
Based on the foregoing, the objective of the present invention is to develop a method and robotic device capable of performing the process of removing and inserting panels in a stand-alone, rapid and safe manner.
Summary The present invention relates to a robotic machine and to a method for removing and inserting trommel screens or panels. The robotic machine contemplates three main parts: a tool for grabbing the panel with damping system (1), a robotic arm (2) with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced, and a mobile main beam (3) which is anchored to the structure of the building or site of installation or assembly and allows moving the robotic manipulator and introducing it into the trommel to carry out the operation.
Brief Description of the Drawings Figures 1 and 2 depict a general perspective view of the robotic machine for replacing panels, where the three main parts
therefore, there is a need to provide a method that allows automating the operation for changing panels, removing people from this operation and reducing times for this activity.
The invention reduces the times for changing a panel, which in turn allows being able to replace most or all of the panels during maintenance, being adapted to the available time or times without affecting the rest of the critical maintenance jobs.
Reliability of trommel operation therefore improves given that the risk of emergency stops for replacing broken panels decreases.
Based on the foregoing, the objective of the present invention is to develop a method and robotic device capable of performing the process of removing and inserting panels in a stand-alone, rapid and safe manner.
Summary The present invention relates to a robotic machine and to a method for removing and inserting trommel screens or panels. The robotic machine contemplates three main parts: a tool for grabbing the panel with damping system (1), a robotic arm (2) with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced, and a mobile main beam (3) which is anchored to the structure of the building or site of installation or assembly and allows moving the robotic manipulator and introducing it into the trommel to carry out the operation.
Brief Description of the Drawings Figures 1 and 2 depict a general perspective view of the robotic machine for replacing panels, where the three main parts
5 of the robotic machine inside the trommel are shown.
Figure 3 corresponds to a perspective view of the tool and of the robotic arm manipulating a trommel panel.
Figure 4 corresponds to a perspective view of the tool for grabbing the panel and of the robotic arm of the trommel.
Figure 5 corresponds to a detailed perspective view of the tool and of the trommel panel.
Figure 6 corresponds to a perspective view of the robotic arm and its main components.
Figure 7 corresponds to a perspective view of the mobile main beam and its main components.
Detailed Description The present invention describes a robotic machine for removing and inserting panels (19), comprising a tool (1) for grabbing the panel, a robotic arm (2) with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced, and a mobile main beam (3) which is anchored to the structure of the building or site of installation or assembly and which allows the robotic manipulator or arm to be moved and introduced into the trommel to carry out the operation.
Additionally the machine has at least one viewing camera which allows remotely observing the operation of the equipment and a control and operating unit which allows controlling and commanding the entire machine.
The present invention also comprises the method for removing and inserting panels.
The tool (1) for grabbing the panel (19) consists of a chassis structure (9), four damping systems (6), four pneumatic drives (5) and four pairs of fingers (4). The fingers are introduced into the slots (21) of the panel (19) between the metal inserts (20) it has and allow securely grabbing it. The
Figure 3 corresponds to a perspective view of the tool and of the robotic arm manipulating a trommel panel.
Figure 4 corresponds to a perspective view of the tool for grabbing the panel and of the robotic arm of the trommel.
Figure 5 corresponds to a detailed perspective view of the tool and of the trommel panel.
Figure 6 corresponds to a perspective view of the robotic arm and its main components.
Figure 7 corresponds to a perspective view of the mobile main beam and its main components.
Detailed Description The present invention describes a robotic machine for removing and inserting panels (19), comprising a tool (1) for grabbing the panel, a robotic arm (2) with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced, and a mobile main beam (3) which is anchored to the structure of the building or site of installation or assembly and which allows the robotic manipulator or arm to be moved and introduced into the trommel to carry out the operation.
Additionally the machine has at least one viewing camera which allows remotely observing the operation of the equipment and a control and operating unit which allows controlling and commanding the entire machine.
The present invention also comprises the method for removing and inserting panels.
The tool (1) for grabbing the panel (19) consists of a chassis structure (9), four damping systems (6), four pneumatic drives (5) and four pairs of fingers (4). The fingers are introduced into the slots (21) of the panel (19) between the metal inserts (20) it has and allow securely grabbing it. The
6 pneumatic drives (5) on which the pairs of fingers are assembled allow the fingers to open and close for grabbing and leaving the panels according to the operating logic. The damping system (6) is a unit made up of springs (7) and a linear guiding system (8) on which the pneumatic drive is assembled and the function of which is to gradually transmit the reaction force of the panel to the robotic arm, such that it prevents impulsive loads therein which can generate excessive torques. The chassis structure (9) on which the damping system is assembled offers strength to the tool. Furthermore, it has a flange coupling (10) which allows attaching the chassis of the tool to the robotic arm.
The robotic arm (2) for grabbing and manipulating the tool consists of a torque sensor (11), a wrist (12), two oscillating arms (13) and a rotating column (14). The torque sensor is placed against the wrist (12) of the robotic arm and allows the robotic arm "to feel" the force it applies and depending on said force, changes trajectories. The wrist (12) allows turning and orienting the tool depending on the point for grabbing the panel. The oscillating arms (13) allow moving the tool to the different trommel work points. The rotating column (14), which is the base of the entire robotic arm, allows rotating the entire robotic arm to reach different positions.
The mobile main beam (3) consists of a crossbeam (15), a support structure (17), a drive system (16) and a mobile carriage (18). The robotic arm is assembled on the crossbeam (15) and said main beam moves, allowing the robotic arm to enter and exit the trommel. The drive system (16) moves the crossbeam. The support structure (17) on which the crossbeam and the drive system are assembled allows the entire unit to be anchored to the structure of the building or site of assembly. The mobile carriage (18) moving on the crossbeam has two compartments where on one hand the robotic arm places the removed panels, and on the other hand
The robotic arm (2) for grabbing and manipulating the tool consists of a torque sensor (11), a wrist (12), two oscillating arms (13) and a rotating column (14). The torque sensor is placed against the wrist (12) of the robotic arm and allows the robotic arm "to feel" the force it applies and depending on said force, changes trajectories. The wrist (12) allows turning and orienting the tool depending on the point for grabbing the panel. The oscillating arms (13) allow moving the tool to the different trommel work points. The rotating column (14), which is the base of the entire robotic arm, allows rotating the entire robotic arm to reach different positions.
The mobile main beam (3) consists of a crossbeam (15), a support structure (17), a drive system (16) and a mobile carriage (18). The robotic arm is assembled on the crossbeam (15) and said main beam moves, allowing the robotic arm to enter and exit the trommel. The drive system (16) moves the crossbeam. The support structure (17) on which the crossbeam and the drive system are assembled allows the entire unit to be anchored to the structure of the building or site of assembly. The mobile carriage (18) moving on the crossbeam has two compartments where on one hand the robotic arm places the removed panels, and on the other hand
7 loads the new panels; this carriage allows moving the panels away from and into the trommel.
The control and operating unit of the robotic machine corresponds to a group of cabinets which are located on the main beam, which have the function of providing power and control to the robotic machine, in addition to having controls for commanding and monitoring same. The cabinets forming the robotic machine are: the switchgear or SG, the control panel or CP and the human machine interface or HMI, which are described below:
SG: Corresponds to the cabinet containing the protective elements against overvoltages, protections for electrical equipment in the control cabinet, local control cabinet of the robotic arm and equipment like the same robotic arm and HMI
operator panel. Also, the single-pole busbar for electrical distribution to the different elements and cabinets is also located here. It has a main single-phase thermomagnetic breaker for opening or closing the electric power intake circuit, in addition to luminous pilot light indicators.
CP: Corresponds to a panel for housing the components responsible for controlling the equipment; the base of this cabinet is its main controller, internal memory and management of a digital input module.
HMI: Corresponds to the panel for on-line monitoring and controlling the process with a connection to the main controller.
The terminals support data input by the operator through a display, one or two remote controls and buttons for actuating the opening and closing of tools.
Additionally, the present invention has a safety architecture that is formed by a controller monitoring all the safety signals of the robotic machine, emergency stops and excessive torques of the robotic machine. The emergency stops are
The control and operating unit of the robotic machine corresponds to a group of cabinets which are located on the main beam, which have the function of providing power and control to the robotic machine, in addition to having controls for commanding and monitoring same. The cabinets forming the robotic machine are: the switchgear or SG, the control panel or CP and the human machine interface or HMI, which are described below:
SG: Corresponds to the cabinet containing the protective elements against overvoltages, protections for electrical equipment in the control cabinet, local control cabinet of the robotic arm and equipment like the same robotic arm and HMI
operator panel. Also, the single-pole busbar for electrical distribution to the different elements and cabinets is also located here. It has a main single-phase thermomagnetic breaker for opening or closing the electric power intake circuit, in addition to luminous pilot light indicators.
CP: Corresponds to a panel for housing the components responsible for controlling the equipment; the base of this cabinet is its main controller, internal memory and management of a digital input module.
HMI: Corresponds to the panel for on-line monitoring and controlling the process with a connection to the main controller.
The terminals support data input by the operator through a display, one or two remote controls and buttons for actuating the opening and closing of tools.
Additionally, the present invention has a safety architecture that is formed by a controller monitoring all the safety signals of the robotic machine, emergency stops and excessive torques of the robotic machine. The emergency stops are
8 mushroom-type stop buttons and are located in the operating panel and to the side of accesses and windows. The actuation of emergency stops causes the robotic machine to shut down.
Restoration from an emergency stop alone does not leave the machine in conditions for starting up again; recognition of the emergency stop by the operator is required. The emergency stops are reset in the area where the emergency stop was activated, but recognition of the emergency stops is done through the operating display.
The robotic machine is operated by means of an operating console located in a secure site in the mobile main beam (3); the robotic machine for removing and inserting panels is controlled and configured in this operating console. The machine is switched on and the crossbeam (15) moves into the trommel, for which purpose it depends on the viewing or inspection cameras, which help it to remotely position itself. Then the mobile carriage is loaded with the panels that will be assembled and the carriage moves on the crossbeam into the trommel on the side of the robotic arm. After the robotic arm of the robotic machine is positioned in the line of action of the panels to be replaced and depending on the information provided by the operator, the robotic arm moves towards the panel (19) to be removed, the pairs of fingers (4) are actuated and the panel is grabbed. The robotic arm pulls the panel (19), making it rotate around one of the anchoring rods, completely releasing a first side, to then continue with the other side, thereby completely letting go of the panel. Once the panel is released from the trommel, by means of the robotic arm the robotic machine moves the panel to the mobile carriage (18) and leaves it in the compartment for used panels, and the robotic arm immediately grabs a new panel from the other compartment of the same mobile carriage (18) and performs the reverse sequence for inserting the new panel in the
Restoration from an emergency stop alone does not leave the machine in conditions for starting up again; recognition of the emergency stop by the operator is required. The emergency stops are reset in the area where the emergency stop was activated, but recognition of the emergency stops is done through the operating display.
The robotic machine is operated by means of an operating console located in a secure site in the mobile main beam (3); the robotic machine for removing and inserting panels is controlled and configured in this operating console. The machine is switched on and the crossbeam (15) moves into the trommel, for which purpose it depends on the viewing or inspection cameras, which help it to remotely position itself. Then the mobile carriage is loaded with the panels that will be assembled and the carriage moves on the crossbeam into the trommel on the side of the robotic arm. After the robotic arm of the robotic machine is positioned in the line of action of the panels to be replaced and depending on the information provided by the operator, the robotic arm moves towards the panel (19) to be removed, the pairs of fingers (4) are actuated and the panel is grabbed. The robotic arm pulls the panel (19), making it rotate around one of the anchoring rods, completely releasing a first side, to then continue with the other side, thereby completely letting go of the panel. Once the panel is released from the trommel, by means of the robotic arm the robotic machine moves the panel to the mobile carriage (18) and leaves it in the compartment for used panels, and the robotic arm immediately grabs a new panel from the other compartment of the same mobile carriage (18) and performs the reverse sequence for inserting the new panel in the
9 trommel. If the robotic arm cannot remove the panel from the trammel automatically, the operator can remotely operate the robotic machine through the operating console. The method for removing and inserting screens or panels comprises, prior to starting the sequence for removing and inserting, loading new panels into the corresponding compartment of the mobile carriage.
Claims (17)
1. A robotic machine for removing and inserting trommel screens or panels, comprising:
a tool for grabbing the panel;
a robotic arm with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced; and a mobile main beam which is anchored to the structure of the building or site of installation or assembly and which allows the robotic manipulator or arm to be moved and introduced into the trommel to carry out the operation.
a tool for grabbing the panel;
a robotic arm with 6 degrees of freedom which manipulates the tool and allows the panel to be removed and replaced; and a mobile main beam which is anchored to the structure of the building or site of installation or assembly and which allows the robotic manipulator or arm to be moved and introduced into the trommel to carry out the operation.
2. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the tool for grabbing the panel comprises a chassis structure, four damping systems, four pneumatic drives and four pairs of fingers, and wherein the tool comprises a flange coupling which allows attaching the chassis of the tool to the robotic arm.
3. The robotic machine for removing and inserting trommel screens or panels according to claim 2, wherein each damping system is a unit made up of springs and a linear guiding system on which one of the pneumatic drives is assembled.
4. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the panel has slots and metal inserts, and wherein the fingers are introduced into the slots between the metal inserts for securely grabbing the panel.
5. The robotic machine for removing and inserting trommel screens or panels according to claim 2, wherein each pair of fingers is assembled on one of the pneumatic drives, which are in turn assembled on the damping system, which is attached to the chassis structure through the linear system.
6. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the robotic arm for grabbing and manipulating the tool comprises a torque sensor, a wrist, two oscillating arms and a rotating column.
7. The robotic machine for removing and inserting trommel screens or panels according to claim 6, wherein the torque sensor is placed against the wrist and allows the robotic arm "to feel"
the force the robotic arm applies, and depending on said force, changes trajectories, and wherein the wrist allows turning and orienting the tool depending on the point for grabbing the panel, and wherein the oscillating arms allow moving the tool to the different trommel work points, and wherein the rotating column, which is the base of the entire robotic arm, allows rotating the entire robotic arm to reach different positions.
the force the robotic arm applies, and depending on said force, changes trajectories, and wherein the wrist allows turning and orienting the tool depending on the point for grabbing the panel, and wherein the oscillating arms allow moving the tool to the different trommel work points, and wherein the rotating column, which is the base of the entire robotic arm, allows rotating the entire robotic arm to reach different positions.
8. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the mobile main beam comprises a crossbeam, a support structure, a drive system and a mobile carriage.
9. The robotic machine for removing and inserting trommel screens or panels according to claim 8, wherein the robotic arm is assembled on the crossbeam, allowing the mobile main beam to move in order to allow the robotic arm to enter and exit the trommel.
10. The robotic machine for removing and inserting trommel screens or panels according to claim 9, wherein the support structure is the base of the mobile main beam and the crossbeam and the drive system are assembled on the support structure, allowing the entire unit to be anchored to the structure of the building or site of assembly and the drive system moves the crossbeam.
11. The robotic machine for removing and inserting trommel screens or panels according to claim 10, wherein the mobile carriage is located on the crossbeam and moves on said crossbeam, which allows moving the panels away from and into the trommel, and wherein the mobile carriage has two compartments, one for placing the removed panels and the other one for placing new panels.
12. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the machine has at least one viewing camera which allows remotely observing the operation of the equipment and a control and operating unit which allows controlling and commanding the entire machine.
13. The robotic machine for removing and inserting trommel screens or panels according to claim 12, wherein the control and operating unit corresponds to a group of cabinets which are located on the mobile main beam, which correspond to a switchgear or SG, a control panel or CP and a human machine interface or HMI.
14. The robotic machine for removing and inserting trommel screens or panels according to claim 1, wherein the robotic machine has a safety structure formed by a controller monitoring all the safety signals of the robotic machine, emergency stops and excessive torques of the robotic machine.
15. A method for operating the robotic machine for removing and inserting trommel screens or panels according to any one of claims 1 to 14, the method comprising the steps of:
- switching the robotic machine on, whereby the crossbeam moves into the trommel;
- positioning the robotic arm of the robotic machine in the line of action of the panels to be replaced;
- moving the robotic arm towards the panel to be removed;
- operating the pairs of fingers;
- grabbing the panel to be removed with the pairs of fingers;
- pulling the panel with the robotic arm, making the panel rotate to completely release first one side and then the other side of the panel to be removed;
- moving the released panel to the mobile carriage by means of the robotic arm;
- leaving the released panel in the space for used panels of the mobile carriage; and - grabbing a new panel with the robotic arm from the mobile carriage itself and performing the operation opposite the removal, thereby achieving insertion of the new panel.
- switching the robotic machine on, whereby the crossbeam moves into the trommel;
- positioning the robotic arm of the robotic machine in the line of action of the panels to be replaced;
- moving the robotic arm towards the panel to be removed;
- operating the pairs of fingers;
- grabbing the panel to be removed with the pairs of fingers;
- pulling the panel with the robotic arm, making the panel rotate to completely release first one side and then the other side of the panel to be removed;
- moving the released panel to the mobile carriage by means of the robotic arm;
- leaving the released panel in the space for used panels of the mobile carriage; and - grabbing a new panel with the robotic arm from the mobile carriage itself and performing the operation opposite the removal, thereby achieving insertion of the new panel.
16. The method for operating the robotic machine for removing and inserting trommel screens or panels according to claim 15, wherein the viewing camera that the robotic machine has helps to remotely position the crossbeam.
17. The method for operating the robotic machine for removing and inserting trommel screens or panels according to claim 16, wherein prior to starting the removal and insertion of screens or panels, the mobile carriage is loaded with new panels which will be assembled in the respective compartment.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CL2014/000024 WO2015172262A1 (en) | 2014-05-16 | 2014-05-16 | Robotic machine for removing and inserting trommel screens, and operating method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2948927A1 CA2948927A1 (en) | 2015-11-19 |
| CA2948927C true CA2948927C (en) | 2020-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2948927A Active CA2948927C (en) | 2014-05-16 | 2014-05-16 | Robotic machine for removing and inserting trommel screens, and operating method thereof |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU2014394044B2 (en) |
| CA (1) | CA2948927C (en) |
| CL (1) | CL2016002914A1 (en) |
| WO (1) | WO2015172262A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR112021012756A2 (en) * | 2018-12-27 | 2021-09-08 | Mi Robotic Solutions S.A. | COATING REPLACEMENT SYSTEM AND PROCEDURE, WHOSE CONFIGURATION ALLOWS THE AUTOMATED REMOVAL AND INTRODUCTION OF COATINGS FROM A MINERAL GRINDING MILL |
| PE20220991A1 (en) * | 2019-09-03 | 2022-06-15 | Mi Robotic Solutions S A | DEVICE OR AUTOMATIC TOOL FOR THE EXTRACTION AND INSTALLATION OF THE MEANS OF FIXING THE LININGS IN A MILL; PROCEDURE FOR INSTALLATION OF THE MEANS OF FIXING A COVERING; PROCEDURE FOR REMOVAL OF THE MEANS OF FIXING A COVERING |
| EP4026653A4 (en) * | 2019-09-03 | 2023-06-07 | Mi Robotic Solutions S.A. | System and method for changing a mill liner, configured to allow the fully automated and robotic manipulation of the method |
| EP4084908A4 (en) * | 2019-12-30 | 2023-11-01 | Metso Outotec Finland Oy | A method of maintaining grate of grinding mill and maintenance arrangement |
| CN112593974B (en) * | 2020-12-03 | 2022-09-23 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
| CN116648332A (en) * | 2020-12-18 | 2023-08-25 | 申克加工澳大利亚有限公司 | Removal and replacement of robotic panel modules in ore processing equipment |
| CN114320384B (en) * | 2021-11-25 | 2023-08-04 | 中国煤炭科工集团太原研究院有限公司 | Lapping actuating mechanism and stock drill carriage |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4676713A (en) * | 1985-12-06 | 1987-06-30 | Voelpel Charles E | Material handling machine |
| DE3804214A1 (en) * | 1988-02-11 | 1989-08-24 | Fraunhofer Ges Forschung | Roadway-support apparatus |
| DE4012596A1 (en) * | 1989-12-19 | 1991-06-20 | Heisterkamp Helmut A Dipl Ing | Mining roadway lining machine - runs on overhead monorail and has working platform equipped with jack setting and other machinery |
| US20070152616A1 (en) * | 2005-11-10 | 2007-07-05 | Hugo Salamanca | Robot system and method for cathode selection and handling procedures after the harvest |
| CN103306690B (en) * | 2013-06-19 | 2015-12-02 | 上海隧道工程股份有限公司 | tunnel reinforcement robot |
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2014
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- 2014-05-16 WO PCT/CL2014/000024 patent/WO2015172262A1/en active Application Filing
- 2014-05-16 AU AU2014394044A patent/AU2014394044B2/en active Active
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2016
- 2016-11-16 CL CL2016002914A patent/CL2016002914A1/en unknown
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| Publication number | Publication date |
|---|---|
| AU2014394044B2 (en) | 2019-04-04 |
| CA2948927A1 (en) | 2015-11-19 |
| CL2016002914A1 (en) | 2017-04-28 |
| WO2015172262A1 (en) | 2015-11-19 |
| AU2014394044A1 (en) | 2016-12-01 |
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