WO2013181717A1 - Installation de broyeur - Google Patents

Installation de broyeur Download PDF

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Publication number
WO2013181717A1
WO2013181717A1 PCT/AU2013/000614 AU2013000614W WO2013181717A1 WO 2013181717 A1 WO2013181717 A1 WO 2013181717A1 AU 2013000614 W AU2013000614 W AU 2013000614W WO 2013181717 A1 WO2013181717 A1 WO 2013181717A1
Authority
WO
WIPO (PCT)
Prior art keywords
drum
mill
fasteners
grinding mill
actuator
Prior art date
Application number
PCT/AU2013/000614
Other languages
English (en)
Inventor
Clyde Campbell
Original Assignee
Clyde Campbell
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
Priority claimed from AU2012902405A external-priority patent/AU2012902405A0/en
Application filed by Clyde Campbell filed Critical Clyde Campbell
Priority to AU2013271304A priority Critical patent/AU2013271304A1/en
Publication of WO2013181717A1 publication Critical patent/WO2013181717A1/fr

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
    • B02C17/22—Lining for containers

Definitions

  • the present invention relates to grinding mill installations and to methods of tightening fasteners used to retain mill liner components in the mill and to methods of releasing mill liner components from the mill.
  • Grinding mills such as Semi Autogenous Grinding mills (SAG mills) are used to grind mined ore and are commonly used in first stage processing of gold, copper and platinum bearing ores.
  • the mill takes the form of a rotatable drum.
  • the drum is loaded with ore, along with a charge of grinding balls or rods. Attrition in the grinding balls causes grinding of finer particles.
  • the inside of the mill is lined with lifting plates to lift the material inside up and around the inside of the mill, where it then falls off the plates into the rest of the ore.
  • the lifting plates are fixed to the inside surface of the drum by way of a series of bolts which project out of the drum to be secured by nuts which are tightened to a specified torque. After a period of mill operation, it becomes necessary to re-tighten the nuts. The mill must be stopped in order to re-tighten the nuts. The nuts are tightened by way of human operators maually applying torquing tools to the nuts in sequence, whilst periodically rotating the drum of the mill.
  • the torquing tools are typically very heavy and the re-torquing procedure is a hazardous operation which brings a risk of injury to the human operators.
  • the lifting plates become worn over time. After an extended period of operation of the mill it becomes necessary to replace the lifting plates. It is often the case that, after removing the nuts that secure a lifting plate, the bolts remain stuck in place, or that, even after removing the bolts the plate does not come away from the inside of the drum but has become jammed in place. This can be due to an
  • a power hammer is a substitute for a traditional sledgehammer. It is usually hydraulically operated and includes a working bit which can impart a high momentum impact blow of typically between 450 to 1500 joules.
  • a power hammer is usually too heavy for one person to lift and so is mounted on a crane or jib. To free a jammed lifter plate, the power hammer is raised up to align with an aperture in the drum of the grinding mill intended for such a purpose. The aperture is located behind a lifter bar. The bit of the power hammer is aligned with the aperture and the power hammer is activated to deliver one or more blows to the rear face of the lifter plate.
  • the bit of the power hammer may be incorrectly aligned with the aperture, or not located at the correct distance away from the rear of the lifter plate so that the bit of the power hammer penetrates too far into the drum when activated. This may result in damage to the drum of the mill, or deformation of the lifter plate, further hindering the operation of removing the lifter plate.
  • the present invention provides a grinding mill installation including: a grinding mill drum; an arrangement of fasteners for securing components of a mill liner in the drum, the fasteners being accessible from the outside the drum; and at least one mechanised actuator which is arranged to manipulate the fasteners.
  • the mechanised actuator includes an actuator head mounted on a moveable mounting which is arranged to position the head with respect to the fasteners.
  • the actuator head is arranged to exert its rotational moment onto an adjoining nut or exposed bolt end.
  • the location of the fasteners is determined based on the angular position of the drum. In an embodiment the location of the fasteners is determined based on the output of a visual detection means.
  • a method of manipulating an arrangement of fasteners accessible from the outside of the drum of a grinding mill including the steps of: providing at least one mechanised actuator which is arranged to manipulate the fasteners; and manipulating the fasteners by way of the at least one mechanised actuator.
  • step of manipulating the fasteners is carried out whilst progressively rotating the drum of the mill.
  • a grinding mill installation including: a grinding mill drum which is arranged to receive an arrangement of mill liner components; at least one mechanised actuator which is arranged to be positioned in a pre-determined orientation in relation to features on the outside surface of the drum and to impart an impact force to the at least one mill liner component to assist in releasing at least one of the mill liner components.
  • the mechanised actuator includes an actuator head mounted on a moveable mounting which is arranged to position the head with respect to the at least one feature.
  • the location of the at least one feature is determined based on the angular position of the drum.
  • the location of the at least one aperture is determined based on the output of a visual detection means.
  • a method of removing a mill liner component from a grinding mill including the steps of: providing a power hammer which is arranged to impart an impact force to the mill liner component; mounting the power hammer on a moveable mounting, the moveable mounting including position detection means to enable detection of the location of the power hammer; and aligning the power hammer with a feature on the drum of the mill by way of the moveable mounting.
  • the position detection means further enables detection of the orientation of the power hammer.
  • a computer program comprising at least one instruction which, when implemented by a computer, is arranged to perform a method as described in accordance with either the second or fourth aspects.
  • a computer readable medium comprising a computer program as described in accordance with the fifth aspect.
  • Figure 1 is a plan view of a grinding mill installation
  • Figure 2 is a perspective view from above of the grinding mill installation of figure 1;
  • Figure 3 is a close up view of one of the mechanical actuators of the grinding mill installation of figure 1;
  • Figures 4 to 6 illustrate a sequence of tightening nuts used to retain mill liner components in the drum of the grinding mill installation of Figure 1;
  • Figure 7 is an alternative view of one of the robotic actuators of figure 1; and Figure 8 shows a robotic actuator controlling a power hammer.
  • a grinding mill installation 10 including a grinding mill 11 which includes a drum 14. Around the drum are positioned a series of six mechanical actuators in the form of robotic arms 20.
  • the robotic arms 20 are fixed in place in relation to mill 11 by being bolted to floor 12.
  • a fence 16 protects human operators from wandering into the working area of the robotic arms 20.
  • the drum 14 is fitted with a mill liner by way of a series of nut and bolt fasteners in a known manner.
  • the bolts are inserted from inside the drum to hold mill liner components in place around the internal surface of the drum 14.
  • Nuts 18 are attached to the exposed bolt ends to secure the bolts in position.
  • robotic arms 20 is shown in enlarged detail and includes a fixed base portion 21 on which is pivotally mounted a rotatable base portion 22. To this is mounted a first arm portion which is rotatable with respect to base portion 22 about a horizontal axis.
  • a second arm portion 25 of the robotic arm is pivotally and rotatably mounted to first arm portion 23 by way of elbow joint portion 24.
  • a wrist portion 26 is in turn pivotally and rotatably mounted to second arm portion 25.
  • a suitable arrangement for use in this application would be one of the IRB 7600 range of industrial robots available from ABB Robotics ( ).
  • robotic arm 20 is fitted with an actuator head 30 which is configured with a socket portion for engaging with nuts 18 and uses a source of compressed air to tighten nuts 18 up to a pre-determined torque which may be of the order of, for example, 2000Nm. However, it is to be understood that any suitable level of torque may be applied to obtain the necessary level of tightening of the nuts.
  • the various articulated joints of robotic arm 20 are fitted with positional sensors to allow accurate positioning of actuator head 30 with respect to nuts 18 on the outside surface of drum 14.
  • a pair of robotic arms 20 works on each of the front face, rear face, and outer surface of drum 14 simultaneously.
  • six robotic arms 20 are programmed to conduct a nut-tightening maintenance routine of grinding mill 11.
  • the nuts 18 are generally provided in rows.
  • Mill 11 is fitted with a 65,000 pulse per revolution rotary encoder that can detect the rotational position of the sag mill to an accuracy of 0.0055 Degrees. For a typical mill with an outside diameter of approximately 10m this provides a positioning accuracy of 0.48mm at the outer surface of drum 14 of the mill.
  • Robotic arms 20 are controlled by a computing system configured with suitable control software.
  • a database storing information in relation to features of the drum including the locations of the nuts 18 around drum 14 is pre-prepared and is utilised by the control software to control the robotic arms to locate the nuts in a maintenance sequence.
  • the information in the database allows the robotic arms to locate the positions of the nuts to within about 0.5mm. This location ability is augmented by additional sensors such as laser and vision sensors as well as mechanical sensors in the actuator 30 to allow more precise location of the nuts and to allow detection of the rotational angle of the nuts to enable a socket to be placed over the nut to allow the nut to be manipulated.
  • additional sensors such as laser and vision sensors as well as mechanical sensors in the actuator 30 to allow more precise location of the nuts and to allow detection of the rotational angle of the nuts to enable a socket to be placed over the nut to allow the nut to be manipulated.
  • the actuator head is shown in detail and includes a lever arm 32 to allow the tool to exert its rotational moment onto an adjoining nut or exposed bolt end while the robot arm utilises soft servo technology to allow the actuator to twist without damaging the robot in the process.
  • the actuator 30 can manipulate the fasteners in three modes 1) rattle nut on 2) rattle nut off and 3) torque nut.
  • the robotic arms 20 may also be used to assist in removing lifter plates from the mill.
  • the nut tightening actuator head 30 is removed from a robotic arm and is replaced by a hydraulic power hammer attachment 40, such as an attachment based on, or including a Thunderbolt (R) power hammer.
  • a hydraulic power hammer attachment 40 such as an attachment based on, or including a Thunderbolt (R) power hammer.
  • the weight of the power hammer attachment 40 is borne by crane 42.
  • the power hammer attachment is pivotally mounted to a tie rod 46 which is slidable along the beam 44 of crane 42.
  • Crane 42 is mounted on a rotable base which allows the power hammer to be moved towards or away from the drum.
  • the robotic arm controls the location and orientation of the working bit 41 of the power hammer.
  • the robotic arm can thus be controlled to position the working bit 41 of the power hammer in a predetermined orientation with respect to features on the outside of drum 14.
  • the robotic arm aligns the power hammer so that the working bit is orthogonal to the local surface of the drum.
  • the database of features of the drum described previously is also programmed to include data identifying the locations of apertures (not shown) which may be provided in the drum of mill 11 for the purpose of removing mill liner components.
  • the robot control software is able to control the robotic arm 20 to accurately align the working bit 41 of the power hammer to align with apertures in the drum 14 or with exposed bolt ends projecting out of the drum 14 to deliver blows to assist in removing mill liner components.
  • the power hammer can be activated by the robot control system to apply blows to assist in removing liner components from the mill.
  • embodiments of the invention have at least one of the following advantages:
  • the time taken to complete the process of re-tightening nuts can be reduced, thus reducing mill down time.
  • correct alignment with apertures and correct orientation of the power hammer can be enhanced reducing the likelihood of damage to the drum or to wear plates.

Landscapes

  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Crushing And Grinding (AREA)

Abstract

L'installation de broyeur selon l'invention comprend : un tambour de broyeur ; un agencement d'éléments de fixation permettant de fixer des éléments d'un revêtement de broyeur dans le tambour, les éléments de fixation étant accessibles depuis l'extérieur du tambour ; et au moins un actionneur mécanisé qui est conçu pour manipuler les éléments de fixation.
PCT/AU2013/000614 2012-06-08 2013-06-07 Installation de broyeur WO2013181717A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2013271304A AU2013271304A1 (en) 2012-06-08 2013-06-07 A grinding mill installation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2012902405A AU2012902405A0 (en) 2012-06-08 A grinding mill installation
AU2012902405 2012-06-08

Publications (1)

Publication Number Publication Date
WO2013181717A1 true WO2013181717A1 (fr) 2013-12-12

Family

ID=49711219

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2013/000614 WO2013181717A1 (fr) 2012-06-08 2013-06-07 Installation de broyeur

Country Status (2)

Country Link
AU (1) AU2013271304A1 (fr)
WO (1) WO2013181717A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021136866A1 (fr) 2019-12-30 2021-07-08 Metso Outotec Finland Oy Procédé d'entretien de grille de broyeur et agencement d'entretien
EP3903941A4 (fr) * 2018-12-27 2022-08-24 Mi Robotic Solutions S.A. Système et procédé pour le remplacement de revêtements dont la configuration permet le retrait et l'introduction, de manière automatisée, de revêtements d'un broyeur utilisé pour le broyage de minerai
EP4026653A4 (fr) * 2019-09-03 2023-06-07 Mi Robotic Solutions S.A. Système et procédé pour le changement de revêtement d'un moulin dont la configuration permet la manipulation robotique et automatisée complète de ce procédé
EP4026619A4 (fr) * 2019-09-03 2023-06-07 Mi Robotic Solutions S.A. Dispositif ou outil pour la saisie d'un revêtement pour son extraction et installation depuis la coque d'un broyeur ; procédé d'installation d'un revêtement ; procédé d'extraction d'un revêtement
EP4026618A4 (fr) * 2019-09-03 2023-06-21 Mi Robotic Solutions S.A. Dispositif ou outil automatique pour l'extraction et l'installation de moyens de fixation des revêtements dans un moulin; procédé d'installation des moyens de fixation d'un revêtement; procédé d'élimination des moyens de fixation d'un revêtement
WO2023199164A1 (fr) * 2022-04-14 2023-10-19 Weir Minerals Netherlands B.V. Installation de crampons

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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.

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3802150A (en) * 1970-09-04 1974-04-09 Programmed & Remote Syst Corp Mill liner handler
WO1997026116A1 (fr) * 1996-01-12 1997-07-24 Russell Mineral Equipment Pty. Ltd. Dispositif d'extraction de boulons pour chemisages

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3802150A (en) * 1970-09-04 1974-04-09 Programmed & Remote Syst Corp Mill liner handler
WO1997026116A1 (fr) * 1996-01-12 1997-07-24 Russell Mineral Equipment Pty. Ltd. Dispositif d'extraction de boulons pour chemisages

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3903941A4 (fr) * 2018-12-27 2022-08-24 Mi Robotic Solutions S.A. Système et procédé pour le remplacement de revêtements dont la configuration permet le retrait et l'introduction, de manière automatisée, de revêtements d'un broyeur utilisé pour le broyage de minerai
EP4026653A4 (fr) * 2019-09-03 2023-06-07 Mi Robotic Solutions S.A. Système et procédé pour le changement de revêtement d'un moulin dont la configuration permet la manipulation robotique et automatisée complète de ce procédé
EP4026619A4 (fr) * 2019-09-03 2023-06-07 Mi Robotic Solutions S.A. Dispositif ou outil pour la saisie d'un revêtement pour son extraction et installation depuis la coque d'un broyeur ; procédé d'installation d'un revêtement ; procédé d'extraction d'un revêtement
EP4026618A4 (fr) * 2019-09-03 2023-06-21 Mi Robotic Solutions S.A. Dispositif ou outil automatique pour l'extraction et l'installation de moyens de fixation des revêtements dans un moulin; procédé d'installation des moyens de fixation d'un revêtement; procédé d'élimination des moyens de fixation d'un revêtement
WO2021136866A1 (fr) 2019-12-30 2021-07-08 Metso Outotec Finland Oy Procédé d'entretien de grille de broyeur et agencement d'entretien
EP4084908A4 (fr) * 2019-12-30 2023-11-01 Metso Outotec Finland Oy Procédé d'entretien de grille de broyeur et agencement d'entretien
WO2023199164A1 (fr) * 2022-04-14 2023-10-19 Weir Minerals Netherlands B.V. Installation de crampons

Also Published As

Publication number Publication date
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