PE20211579A1 - Sistema y procedimiento para el recambio de revestimientos, cuya configuracion permite retirar e introducir, en forma automatizada, revestimientos de un molino utilizado para la molienda de mineral - Google Patents

Sistema y procedimiento para el recambio de revestimientos, cuya configuracion permite retirar e introducir, en forma automatizada, revestimientos de un molino utilizado para la molienda de mineral

Info

Publication number
PE20211579A1
PE20211579A1 PE2021001097A PE2021001097A PE20211579A1 PE 20211579 A1 PE20211579 A1 PE 20211579A1 PE 2021001097 A PE2021001097 A PE 2021001097A PE 2021001097 A PE2021001097 A PE 2021001097A PE 20211579 A1 PE20211579 A1 PE 20211579A1
Authority
PE
Peru
Prior art keywords
coatings
procedure
whose configuration
replacement
configuration allows
Prior art date
Application number
PE2021001097A
Other languages
English (en)
Inventor
Poblete Hugo Salamanca
Ramirez Luis Baeza
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 PE20211579A1 publication Critical patent/PE20211579A1/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • 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
    • 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
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • B25J19/04—Viewing devices
    • 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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B23P6/00—Restoring or reconditioning objects
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • 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
    • 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
    • G05B2219/40071—Relative positioning, grinding and polishing against rotating belt
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45058—Grinding, polishing robot
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45094—Milling robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Food Science & Technology (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Crushing And Grinding (AREA)
  • Disintegrating Or Milling (AREA)

Abstract

Un sistema y procedimiento para el recambio de revestimientos de un molino, cuya configuracion permita la manipulacion automatizada y robotica de revestimientos de molinos para la molienda de minerales en procesos de conminucion, cuya configuracion y operacion permita mejorar la tarea de manipulacion al poseer un mayor grado de libertad y/o flexibilidad en sus movimientos, proporcionando al procedimiento un mayor grado de certeza y eficacia, por lo tanto optimizando el tiempo de detencion del molino por mantenimiento, asi como evitar los riesgos a los que se pueda ver sometido el personal de mantenimiento, el sistema comprende al menos una estructura de soporte, al menos un sistema de alimentacion y desplazamiento de revestimientos, al menos un sistema manipulador robotico de los revestimientos, al menos una herramienta de manipulacion de revestimientos, al menos un sistema de vision artificial y al menos un sistema de control.
PE2021001097A 2018-12-27 2018-12-27 Sistema y procedimiento para el recambio de revestimientos, cuya configuracion permite retirar e introducir, en forma automatizada, revestimientos de un molino utilizado para la molienda de mineral PE20211579A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2018/050150 WO2020132756A1 (es) 2018-12-27 2018-12-27 Sistema y procedimiento para el recambio de revestimientos, cuya configuración permite retirar e introducir, en forma automatizada, revestimientos de un molino utilizado para la molienda de mineral

Publications (1)

Publication Number Publication Date
PE20211579A1 true PE20211579A1 (es) 2021-08-17

Family

ID=71125647

Family Applications (1)

Application Number Title Priority Date Filing Date
PE2021001097A PE20211579A1 (es) 2018-12-27 2018-12-27 Sistema y procedimiento para el recambio de revestimientos, cuya configuracion permite retirar e introducir, en forma automatizada, revestimientos de un molino utilizado para la molienda de mineral

Country Status (8)

Country Link
US (1) US20220062915A1 (es)
EP (1) EP3903941A4 (es)
AU (1) AU2018455235A1 (es)
BR (1) BR112021012756A2 (es)
CA (1) CA3125062A1 (es)
MX (1) MX2021007361A (es)
PE (1) PE20211579A1 (es)
WO (1) WO2020132756A1 (es)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE545878C2 (en) * 2021-02-11 2024-02-27 Metso Outotec Finland Oy Method and system for positioning a wear element relative to a supporting structure
CL2022000624A1 (es) * 2022-03-13 2022-09-23 Miguel Angel Mura Yanez Sistema de equipos autónomos que permiten multiplicidad de tareas posibles sobre obras, como: equipos de molienda de mineral; que incluye vehículos, equipos y dispositivos; que incluye un manipulador multitarea autónomo que se comunica con un revestimiento; que son operados por un controlador y enlace wifi. métodos del sistema: operación del sistema, la instalación de medios en el revestimiento, instalación y operación del revestimiento en la obra, la instalación y retiro del revestimiento, entre otros.
CN114985065B (zh) * 2022-08-04 2022-11-04 杭州骏沃机电科技有限公司 一种球磨机换衬板机械臂装置

Family Cites Families (17)

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Publication number Priority date Publication date Assignee Title
AU2003903868A0 (en) * 2003-07-28 2003-08-07 Ross Clive Allen Mill relining apparatus
DE102008062509A1 (de) * 2008-12-16 2010-06-17 Sms Siemag Aktiengesellschaft Anlage zum Auskleiden einer inneren Wand einer Umhüllung, insbesondere eines Konverters, mit einem Mauerwerk aus Steinen
US9607239B2 (en) * 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9628775B2 (en) * 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US8930019B2 (en) * 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
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
WO2013181717A1 (en) * 2012-06-08 2013-12-12 Clyde Campbell A grinding mill installation
US9207657B2 (en) * 2012-09-28 2015-12-08 Clover Technologies Group, Llc Manufacturing system with interchangeable tooling heads and tooling nests
AU2014295812B2 (en) * 2013-07-22 2018-03-15 Russell Mineral Equipment Pty Ltd System for use in mounting an exchangeable wear lining element
CN203484901U (zh) * 2013-09-05 2014-03-19 中国有色（沈阳）冶金机械有限公司 一种筒体衬板自动化装配平台
CA2948927C (en) * 2014-05-16 2020-12-15 Carlos CARMONA ACOSTA Robotic machine for removing and inserting trommel screens, and operating method thereof
EP3337618B1 (en) * 2015-08-19 2022-05-11 Metso Outotec Finland Oy A machine and a method for transporting a liner into a grinding mill body
CN105643655B (zh) * 2016-03-07 2017-06-16 中信重工机械股份有限公司 一种用于更换螺旋衬板的机械手
CN206690132U (zh) * 2016-11-29 2017-12-01 洛阳中重自动化工程有限责任公司 一种双节长伸缩悬臂的高精度后滑块装置
US10457344B2 (en) * 2016-12-23 2019-10-29 Ford Motor Company Closure member and body opening alignment verification system
MX2022002619A (es) * 2019-09-03 2022-04-11 Mi Robotic Solutions S A 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.
WO2021045246A1 (ko) * 2019-09-03 2021-03-11 엘지전자 주식회사 자동차에 확장된 기능을 제공하는 장치 및 그 방법

Also Published As

Publication number Publication date
EP3903941A4 (en) 2022-08-24
BR112021012756A2 (pt) 2021-09-08
EP3903941A1 (en) 2021-11-03
MX2021007361A (es) 2021-09-21
US20220062915A1 (en) 2022-03-03
CA3125062A1 (en) 2020-07-02
WO2020132756A1 (es) 2020-07-02
AU2018455235A1 (en) 2021-07-29

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