CL2022000624A1 - System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others. - Google Patents

System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others.

Info

Publication number
CL2022000624A1
CL2022000624A1 CL2022000624A CL2022000624A CL2022000624A1 CL 2022000624 A1 CL2022000624 A1 CL 2022000624A1 CL 2022000624 A CL2022000624 A CL 2022000624A CL 2022000624 A CL2022000624 A CL 2022000624A CL 2022000624 A1 CL2022000624 A1 CL 2022000624A1
Authority
CL
Chile
Prior art keywords
liner
installation
autonomous
equipment
removal
Prior art date
Application number
CL2022000624A
Other languages
Spanish (es)
Inventor
Angel Mura Yáñez Miguel
Original Assignee
Miguel Angel Mura Yanez
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Miguel Angel Mura Yanez filed Critical Miguel Angel Mura Yanez
Priority to CL2022000624A priority Critical patent/CL2022000624A1/en
Publication of CL2022000624A1 publication Critical patent/CL2022000624A1/en
Priority to PCT/CL2023/050020 priority patent/WO2023173235A1/en

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Food Science & Technology (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Manipulator (AREA)

Abstract

Un sistema (1000) para efectuar multiplicidad de tareas posibles en obra, como: el conjunto molino horizontal, los chutes, el trommel, sus componentes y revestimientos. El sistema (1000) comprende una unidad de control (100) para operar, en forma aislada o conjunta, unos vehículos, equipos y dispositivos, para: el monitoreo, operación, alimentación, transporte y levante; tales como: unidad de sondaje, vehículos autónomos, manipulador multitarea, tipo puente grúa, chute autónomo, revestimiento inteligente y accesorios, dispositivos para instalación, retiro y fijación. El sistema (1000) incluye un vehículo manipulador multitarea autónomo (MMA) (1) que se comunica con un revestimiento, porque incluye sobre un brazo robot telescópico (1.4) a continuación de una unidad de rotación (1.5 y 1.6) se conecta un brazo robot multitarea (1.10) donde se acopla un efector final; mientras que al cabezal (1.11) se acopla: una mordaza de levante de revestimiento, herramienta para palmetas de trommel (210), un centrador (24), y un empujador (1.200), el (MMA) (1) incluye, además, una plataforma (1.3A), un dispensador de objetos y herramientas (800 y 810), una unidad centralizada de alimentación (700 y 710), las que entrega cables y mangueras para suministrar energía carga poder y entregar o extraer objetos, fluidos aditivos y sustractivos (por ej. pintura, succión de aire, extracción de un perno, etc.) La invención también divulga métodos del sistema para: la operación del sistema, la instalación de medios para censar desgaste en el revestimiento, instalación y operación del revestimiento en la obra, la instalación y retiro del revestimiento por un manipulador, el ingreso y retiro del manipulador al molino, acople y retiro de un chute al molino, la construcción de un gemelo digital del sistema y fijar un primer brazo robot a una obra y un segundo brazo robot para efectuar una tarea.A system (1000) to carry out a multitude of possible tasks on site, such as: the horizontal mill assembly, the chutes, the trommel, its components and coatings. The system (1000) comprises a control unit (100) to operate, separately or jointly, some vehicles, equipment and devices, for: monitoring, operation, feeding, transport and lifting; such as: drilling unit, autonomous vehicles, multi-task manipulator, bridge crane type, autonomous chute, intelligent lining and accessories, devices for installation, removal and fixing. The system (1000) includes an autonomous multitask manipulator vehicle (MMA) (1) that communicates with a cladding, because it includes a telescopic robot arm (1.4) after a rotation unit (1.5 and 1.6) an arm is connected multitask robot (1.10) where an end effector is attached; while the head (1.11) is attached: a liner lifting clamp, a trommel trommel tool (210), a centering pin (24), and a pusher (1,200), the (MMA) (1) also includes a platform (1.3A), an object and tool dispenser (800 and 810), a centralized power unit (700 and 710), which deliver cables and hoses to supply power, charge power and deliver or extract objects, fluids, additives and subtractive (eg paint, air suction, removal of a bolt, etc.) The invention also discloses system methods for: operating the system, installing means for sensing wear on the lining, installing and operating the lining on the work, the installation and removal of the coating by a manipulator, the entry and removal of the manipulator to the mill, coupling and removal of a chute to the mill, the construction of a digital twin of the system and fixing a first robot arm to a work and a second robot arm for e perform a task.

CL2022000624A 2022-03-13 2022-03-13 System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others. CL2022000624A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CL2022000624A CL2022000624A1 (en) 2022-03-13 2022-03-13 System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others.
PCT/CL2023/050020 WO2023173235A1 (en) 2022-03-13 2023-03-11 System of autonomous devices that allow a plurality of possible tasks on plants, such as ore milling plants, which includes vehicles, equipment and a multitasking manipulator that communicates with a lining and other elements, which are operated by a controller, and a wifi link; and methods

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CL2022000624A CL2022000624A1 (en) 2022-03-13 2022-03-13 System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others.

Publications (1)

Publication Number Publication Date
CL2022000624A1 true CL2022000624A1 (en) 2022-09-23

Family

ID=83439262

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2022000624A CL2022000624A1 (en) 2022-03-13 2022-03-13 System of autonomous equipment that allows a multiplicity of possible tasks on construction sites, such as: ore grinding equipment; which includes vehicles, equipment and devices; including an autonomous multitasking handler that communicates with a liner; which are operated by a controller and wifi link. system methods: system operation, the installation of media in the liner, installation and operation of the liner on site, the installation and removal of the liner, among others.

Country Status (2)

Country Link
CL (1) CL2022000624A1 (en)
WO (1) WO2023173235A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003903868A0 (en) * 2003-07-28 2003-08-07 Ross Clive Allen Mill relining apparatus
AU2005239667B2 (en) * 2004-12-01 2010-09-30 Russell Mineral Equipment Pty Limited A Mill Reline Apparatus
US20070180678A1 (en) * 2005-11-10 2007-08-09 Hugo Salamanca Robot system and method for bolt removal from SAG and/or ball mills in ore concentration processes
AU2013271304A1 (en) * 2012-06-08 2015-01-15 Machinery Automation & Robotics Pty Ltd A grinding mill installation
AU2019216882B2 (en) * 2018-02-12 2024-05-23 Russell Mineral Equipment Pty Ltd Method and system for use in positioning a mill liner
AU2018455235A1 (en) * 2018-12-27 2021-07-29 Mi Robotic Solutions S.A. System and method for changing liners, the configuration of which allows the automated removal and insertion of liners of a mill used for ore grinding
US20230064546A1 (en) * 2019-09-03 2023-03-02 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

Also Published As

Publication number Publication date
WO2023173235A1 (en) 2023-09-21

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