MX2022002619A - Dispositivo o herramienta para el agarre de un revestimiento para su extraccion e instalacion desde el casco de un molino; procedimiento de instalacion de un revestimiento; procedimiento de extraccion de un revestimiento. - Google Patents

Dispositivo o herramienta para el agarre de un revestimiento para su extraccion e instalacion desde el casco de un molino; procedimiento de instalacion de un revestimiento; procedimiento de extraccion de un revestimiento.

Info

Publication number
MX2022002619A
MX2022002619A MX2022002619A MX2022002619A MX2022002619A MX 2022002619 A MX2022002619 A MX 2022002619A MX 2022002619 A MX2022002619 A MX 2022002619A MX 2022002619 A MX2022002619 A MX 2022002619A MX 2022002619 A MX2022002619 A MX 2022002619A
Authority
MX
Mexico
Prior art keywords
liner
tool
same
mill
gripping
Prior art date
Application number
MX2022002619A
Other languages
English (en)
Inventor
Cabrera Igor Sebastian Elias
Rosas Carlos Roberto Muñoz
Gutierrez Mario Francisco Poblete
Original Assignee
Mi Robotic Solutions S A
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 Mi Robotic Solutions S A filed Critical Mi Robotic Solutions S A
Publication of MX2022002619A publication Critical patent/MX2022002619A/es

Links

Classifications

    • 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
    • B23P19/06—Screw or nut setting or loosening machines
    • 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
    • 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
    • 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
    • B23P19/06—Screw or nut setting or loosening machines
    • B23P19/069—Multi-spindle machines
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Food Science & Technology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

La invención consiste en un dispositivo o herramienta para el agarre (1) de un revestimiento para llevar a cabo el procedimiento de extracción e instalación de éste desde el casco de un molino que comprende una estructura rígida o chasis (2) formando un soporte de alojamiento de los componentes necesarios para su funcionamiento, posee un acople (6) que permite fijar o disponer dicho dispositivo en al menos un extremo de una dispositivo de manipulación, tal como a modo de ejemplo un manipulador robótico, comprende al menos una garra o pinza (7) para sujetar al menos un perno desde su cabeza, posee una configuración que permite ajustar su posición relativa, para así alinear sus pinzas a las posiciones de los agujeros de cada revestimiento, y la al menos una pinza (7) posee una configuración que permiten abrir y cerrar dichas garras de forma tal de ajustar su tamaño al tamaño del perno que será agarrado, donde la al menos una pinza o garra (7) posee al menos un sensor, logrando así completar la instalación y extracción de revestimientos de molinos, basándose en los elementos de sujeción que sostienen los revestimientos en su posición.
MX2022002619A 2019-09-03 2019-09-03 Dispositivo o herramienta para el agarre de un revestimiento para su extraccion e instalacion desde el casco de un molino; procedimiento de instalacion de un revestimiento; procedimiento de extraccion de un revestimiento. MX2022002619A (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2019/050083 WO2021042220A1 (es) 2019-09-03 2019-09-03 Dispositivo o herramienta para el agarre de un revestimiento para su extracción e instalación desde el casco de un molino; procedimiento de instalación de un revestimiento; procedimiento de extracción de un revestimiento

Publications (1)

Publication Number Publication Date
MX2022002619A true MX2022002619A (es) 2022-04-11

Family

ID=74852723

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2022002619A MX2022002619A (es) 2019-09-03 2019-09-03 Dispositivo o herramienta para el agarre de un revestimiento para su extraccion e instalacion desde el casco de un molino; procedimiento de instalacion de un revestimiento; procedimiento de extraccion de un revestimiento.

Country Status (8)

Country Link
US (1) US20220324070A1 (es)
EP (1) EP4026619A4 (es)
AU (1) AU2019464933A1 (es)
BR (1) BR112022003907A2 (es)
CA (1) CA3153189A1 (es)
MX (1) MX2022002619A (es)
PE (1) PE20221088A1 (es)
WO (1) WO2021042220A1 (es)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220062915A1 (en) * 2018-12-27 2022-03-03 Mi Robotic Solutions S.A. [Cl/Cl] 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
CN115415776A (zh) * 2022-10-19 2022-12-02 东风（武汉）汽车零部件有限公司 检测衬套防错装置及其使用方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US84714A (en) 1868-12-08 Improvement in machine for bending sheet-metal
DE3612144A1 (de) * 1986-04-10 1987-10-15 Ralf Hinkel Verfahren und einrichtung zur bestimmung der greifposition
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
AR081241A1 (es) * 2010-04-19 2012-07-18 Vulco Sa Sistema, disposicion y metodo de sujecion de una placa de desgaste
SE536060C2 (sv) * 2011-09-08 2013-04-23 Metso Minerals Sweden Ab Styr- och positioneringssystem för indikering av monteringsläget för ett utbytbart slitfoderelement samt användande av en bildupptagningskamera
AU2013271304A1 (en) * 2012-06-08 2015-01-15 Machinery Automation & Robotics Pty Ltd A grinding mill installation
AU2014295812B2 (en) * 2013-07-22 2018-03-15 Russell Mineral Equipment Pty Ltd System for use in mounting an exchangeable wear lining element
JP5860021B2 (ja) * 2013-10-24 2016-02-16 ファナック株式会社 複数の締結部材を締結するための締結装置、ロボットシステム、および締結方法
WO2018157201A1 (en) * 2017-02-28 2018-09-07 Russell Mineral Equipment Pty Ltd Mill liner removal system
AU2019216882B2 (en) * 2018-02-12 2024-05-23 Russell Mineral Equipment Pty Ltd Method and system for use in positioning a mill liner

Also Published As

Publication number Publication date
WO2021042220A1 (es) 2021-03-11
AU2019464933A1 (en) 2022-04-28
BR112022003907A2 (pt) 2022-05-31
US20220324070A1 (en) 2022-10-13
PE20221088A1 (es) 2022-07-05
CA3153189A1 (en) 2021-03-11
EP4026619A1 (en) 2022-07-13
EP4026619A4 (en) 2023-06-07

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