WO2015010163A1 - Système pour l'utilisation dans le montage d'un élément de chemisage d'usure pouvant être échangé - Google Patents

Système pour l'utilisation dans le montage d'un élément de chemisage d'usure pouvant être échangé Download PDF

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Publication number
WO2015010163A1
WO2015010163A1 PCT/AU2014/050134 AU2014050134W WO2015010163A1 WO 2015010163 A1 WO2015010163 A1 WO 2015010163A1 AU 2014050134 W AU2014050134 W AU 2014050134W WO 2015010163 A1 WO2015010163 A1 WO 2015010163A1
Authority
WO
WIPO (PCT)
Prior art keywords
holes
mounting
lining element
wear lining
sensor
Prior art date
Application number
PCT/AU2014/050134
Other languages
English (en)
Inventor
Gregory Oliver Valler
David Andrew KRAUTZ
Original Assignee
Russell Mineral Equipment Pty Ltd
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 AU2013902709A external-priority patent/AU2013902709A0/en
Application filed by Russell Mineral Equipment Pty Ltd filed Critical Russell Mineral Equipment Pty Ltd
Priority to AU2014295812A priority Critical patent/AU2014295812B2/en
Publication of WO2015010163A1 publication Critical patent/WO2015010163A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/40003—Move end effector so that image center is shifted to desired position
    • 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
    • G05B2219/40082—Docking, align object on end effector with target

Definitions

  • the present invention relates to a control and positioning system for use in mounting an exchangeable wear lining element to the shell of a rotatin drum of an ore mill.
  • Wear lining elements are secured to the internal casing of ore mills. They are typically provided as segments, and they are secured internally of the mill shell by bolt which are conventionally fitted from the interna! side of the shell and project through apertures in the liners and through mounting bores in the shell. A nut and sealing washer are threaded onto and tightened onto each bolt from outside the shell, drawing the liner to the inner surface of the shell.
  • a nut and sealing washer are threaded onto and tightened onto each bolt from outside the shell, drawing the liner to the inner surface of the shell.
  • U S Patent No.6082646 discloses a fastening system for liner assemblies of ore mills which threads bolts from the external side, so that the bolt bears against the external side of the mill shell, and a nut is used on the internal side sitting in a recess formed in the liner segment.
  • Such handling equipment typically comprises a lifting arrangement, such as an arm or a lifting crane, that can be manoeuvred inside the mill, and that is provided, at its free end with a grip arrangement wit which a wear lining element can be gripped and supported,
  • a lifting arrangement such as an arm or a lifting crane
  • the grip arrangement and thus the linin element can be displaced essentially freely in space or with at least two or three degrees of translational freedom in space, i.e. in the x-, y- and ⁇ -directions.
  • its attitude also can normall be controlled, for example the roll, pitch and yaw angles of the grip arrangement.
  • a prior art system which attempts to improve the control and positionin of a wear lining element, relative to the internal surface of a mill casing (or wail), has been proposed and marketed by the present applicant as LINE VISJON " .
  • This system uses two sensor units with 2D cameras and integrated infrared illumination placed into the mounting (bolt) holes of a wear lining element. This provides position and alignment of the sensor unit.
  • the two camera views are wirelessly transmitted to a decoding unit and displayed on a monitor placed so that the reline machine operator can use the view to align the liner with the fixing holes in two dimensions.
  • the infrared illumination avoids shadow effects from work lights used inside and outside the mill, as it would be a problem with visible light illumination.
  • a weaknes of both aboyementioned systems is that the informatio presented to the operator is in 2D (an X-Y plane) without any depth information. This means alignment of the fixing holes in the wear liner and mill shell is not usually possible.
  • the wear lining element could be presented with one mounting hole closer to the mill casing than another. This skewing of the liner will result in collision with adjacent wear lining elements, preventing placement of the liner against the mill shell. The operator must therefore be able to use other references to allow fitting.
  • the present invention seeks to overcome at least some of the abovementioned disadvantages by providing an improved control and positioning system for use in mountin an exchangeable wear lining element at an inner surface of a wall surface using three-dimensional sensors.
  • the present invention consists in a control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear", said wall being die shell of a rotating drum of an ore grinding mill, and said wear lining element is supported .at. the free end of a manoeuvrable arm.
  • said at least one sensor is two sensors, each fitted to holes of either the first set of fixing holes or second set of mounting holes.
  • said three-dimensional sensor is introduced from outside said wall into one of said holes of said first set of fixing holes it does not extend outside the one of said fixing holes beyond the inner surface of said wall.
  • said three-dimensional sensor is anyone of a laser device, range camera, time of flight camera or a field sensor.
  • control and positioning system further comprising a CPU/control unit.
  • control and positioning system further comprising a monitor,
  • said mounting operation i controlled by an operator in the vicinity of said mountin operation and capable of viewing said monitor.
  • said mounting operation i controlled by an operator remote from said mounting operation and capable of viewing said monitor, said CPU/control unit and said monitor in communicatio with said sensors using wireless and/or cable communication *
  • the present invention consists ' in a control and positioning system for use in mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a manoeuvrable arm. that is a component, of a lifting arrangement that is controlled during the handling of the wear lining element during a mounting operation by a crane operator, whereby said wall is provided with at least a first set.
  • the wear lining element is intended to be tightened against the surface by means of attachment means that are i troduced through said first set of fixing holes and said second set of mounting holes, characteri sed in that t wo three-dimensional sensors are .arranged to be introduced into respective hole of either said first set of fixing holes or said second set of mounting holes, in such a manner that the field of view of each said sensor will be a respective one of said second set of mounting holes when each said sensor is inside one of said holes .of said first set of fixing holes, or a respective one of said first set of fixing holes when e ch said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor are arranged to transmit signals that represents relative position between the themselves and the respective holes within their field of view and in combination provide an i mage and with the guidance of said image the mounting position of said wear lining element at said wall can be determined.
  • the present invention consists in a. method of mounting an exchangeable wear lining element at an inner surface of a wall that is subject to wear, said wall being the shell of a rotating drum of an ore grinding mill, and said wear lining element is supported at the free end of a lifting device that is controlled during the handling of the wear lining elemen during a mounting operation, both said wear lining element and said mill casing having a plurality of attachment holes which must be aligned with each other for mounting of said wear lining element to said mill casing, whereby at feast one three-dimensional sensor i placed within one of said attachment holes on either said wear liner element or mill casing so that it has within its field of view at least one attachment hole of the other component, and arranged to transmit a signal that represents between itself and said at least one attachment hole of the other component within its field of view, and provide an image and with the guidance of said image the mounting position of said wear lining element at said wail can be determined.
  • Fig. 1 is a cross-sectional view of a first embodiment of part of a mill casing using a control and positioning system during positioning of a wear lining element during a mounting operation according t the present invention.
  • Fig. 2 is a cross-sectional view of a second, embodiment of part of a mill casing usin a control and positioning sy stem during positioning of a wear lining element during mounting operation according to the present invention.
  • Fig. 3 is perspective view of the liner and part mill casing of Fig. 1.
  • Fig.4 is a cross-sectional vie of a third embodiment of part of a mill casing using a control and positioning system during positioning of wear lining element during a mounting operation according to the present invention.
  • Fig. 5 a schematic representation of the control and positioning system bein employed in Fig. 1 where the operator carrying out the mounting of operation is in the vicinity of the mill site.
  • Fig. 6 a schematic representation of the control and positioning system bein employed in Fig. 1 where the operator carrying out the mounting of operation is remote from of the mill site.
  • Figs. 1, 3 and 5 depict a first embodiment of a mill casing 3 of an ore mill with a control and positioning system 10 during positioning of a wear lining element (liner) 1.
  • Mill casing 3 is the shell of a rotating drum of an or grinding mill, but m these figures only a part of mill casing 3 is shown for ease of reference.
  • Mill casing (rotating drum) 3 is for a SAG or ball ore mill, of a conventional type to which liner 1 is secured to using conventional liner attachment means, such as liner bolts (not shown).
  • Mill casing 3 has an internal backing layer 4, typically of rubber, against which liner 1 abuts when secured thereto.
  • a manoeuvrable handling arm 15 is used to support and place liner 1 against mill casing 3 in a mounting operation.
  • Mill casing 3 has a plurality of fixing holes 7, one of which is shown in Fig. L
  • Liner 1 has a plurality of mounting hole 2, one of which is shown in Fig.L
  • control and positioning system 10 comprises two three-dimensional (3D) sensors 5, connected to a CPU/control unit 6 and monitor 8 which when in use can be used for controlling the placement of liner 1.
  • Monitor 8 is preferably able to provide two-dimensional and three-dimensional information.
  • Sensors 5 are wirelessly connected to CPU/control unit 6,
  • three-dimensional sensor means a sensor that can sense and provide data of movement in three dimensions, eg movement in a three axes X-Y-Z coordinate system.
  • each sensor 5 is introduced from outside of mill casing 3, and placed into a fixing hole 7.
  • each sensor 5 does not extend through its respective fixing hole 7 into th interior of the mill, so as t minimise risk of damage thereto, but located sufficiently close to the interior (mating) surface end of its respective fixing hole 7, so that it has a wide field of vision Vw depicted by dotted lines.
  • the field of vision Vw of sensor 5 is much wider in this location, as compared to positioning it outside of mill casing 3, shown by the representation of sensor 5 A having a narrower field of vision Vn.
  • Control and positioning system 10 using three-dimensional sensors 5 is able to use mounting holes 2 a the necessary reference identifiers on liner 1, and as sensors 5 are within respective fixing holes 7, they are themselves the reference identifiers for mill, casing 3.
  • liner 1 having its mounting holes 2 as the reference markers can be sensed three dimensionally, as represented by the Xl -Yl-Zl and X2-Y2-Z2 axes.
  • the Output from the two sensors 5 in- combination can be used for controlling the placement of liner 1.
  • a crane (or liner handling) operator 12 can view an image on monitor 8 to assist in placement of liner i.
  • the image being provided for operator 12 may be in 3D representation, 2D or preferably 21 ⁇ 2D (a 2D picture of the X-Y plane with distance readout for the Z axis).
  • FIG. 5 depicts placement of liner .1. carried out b operator 12 located in the vicinity of the mill, it should be understood that alternatively as shown in Fig. 6 operator 12 may instead be remotely located from the mill site as is possible using the Interne or a LAN, using -wireless and/or cable based communication.
  • a second embodiment as shown In Fig, 2, three-dimensional sensors 5 of control and positioning system .10 are actually placed in respective mounting holes 2 in liner 1 , and the field of vision Vw is where liner 1 is to be placed.
  • each fixing hole 7 is the necessary reference identifier.
  • an operator- can see an image on monitor 8 to assist in placement of liner 1.
  • Fig. 4 depicts a third embodiment which Is similar to the first embodiment, in that each three- dimensional sensor 5 is in a fixing hole 7, however in this embodiment the liner t A has a blind mountin hole 2 A.
  • three-dimensional sensors 5 by providin the relative depth (Z axis data) of the wear lining element relative to the wall* .not only overcomes the liner skewing problem associated with the prior art, but will also reduce the time needed to place a liner.
  • two three-dimensional sensors 5 are employed.
  • a single three-dime sional sensor 5 could be used. The problem with using a single sensor 5 is that you must be. able to determine the orientation of liner I ,1A.
  • the single three-dimensional sensor 5 would either require a field of vi ion that is wide enough to view two holes on the opposed component, or use some other additional reference identifier, such as that on handling arm 15 that can be part of the control system.
  • Another alternate method of determining orientation of liner 1,1 A would be to use features on the face of liner 1,1 A or mill casing 3 such as curvature to derive the departure from the required orientation. It is possible to use a combination of these inputs.
  • control of the positioning system 10 need not be controlled by an operator, but instead sensors 5 and CPU/control unit 6 of system 10, may be part of an automatic mill re line machine.
  • the three dimensional sensor 5 may be of any suitable device capable of 3D sensing, including laser device, range camera, time of flight camera or field sensor, or a combination of such devices.
  • the field sensor may be of any suitable type, including capacitance field sensor, magnetic field sensor or electrostatic field sensor.
  • fixing holes 7 i mill casing 3 and “mounting holes 2" in liner 1
  • the terms “fixing” and “'mounting” have been used to differentiate the attachment holes in mill casing 3 from those in liner L

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Crushing And Grinding (AREA)

Abstract

L'invention porte sur un procédé de montage d'un élément de chemisage d'usure pouvant être échangé au niveau d'une surface interne d'une paroi de broyeur sujette à l'usure, ledit élément de chemisage d'usure étant soutenu à l'extrémité libre d'un dispositif de levage qui est commandé pendant la manipulation de l'élément de chemisage d'usure pendant une opération de montage. La paroi comporte un premier ensemble de trous, et l'élément de chemisage d'usure comporte un second ensemble de trous. L'élément de chemisage d'usure est conçu de façon à être tendu contre la surface à l'aide de moyens d'attachement qui sont introduits à travers le premier ensemble et le second ensemble de trous. Au moins un capteur à trois dimensions est agencé de façon à être introduit dans l'un desdits trous de l'un ou l'autre dudit premier ensemble ou dudit second ensemble de trous, de telle manière que le champ de vision dudit capteur est au moins l'un du second ensemble de trous quand ledit capteur est à l'intérieur de l'un des trous du premier ensemble de trous, ou est au moins l'un du premier ensemble de trous quand ledit capteur et à l'intérieur de l'un des trous du second ensemble de trous. Le capteur est configuré de façon à émettre un signal qui représente une position relative entre lui-même et le trou respectif à l'intérieur de son champ de vision, et à fournir une image, et, avec le guidage de ladite image, la position de montage dudit élément de chemisage d'usure au niveau de la paroi pouvant être déterminée.
PCT/AU2014/050134 2013-07-22 2014-07-18 Système pour l'utilisation dans le montage d'un élément de chemisage d'usure pouvant être échangé WO2015010163A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2014295812A AU2014295812B2 (en) 2013-07-22 2014-07-18 System for use in mounting an exchangeable wear lining element

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2013902709 2013-07-22
AU2013902709A AU2013902709A0 (en) 2013-07-22 System For Use in Mounting An Exchangeable Wear Lining Element

Publications (1)

Publication Number Publication Date
WO2015010163A1 true WO2015010163A1 (fr) 2015-01-29

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108568336A (zh) * 2017-03-16 2018-09-25 北京环磨科技有限公司 一种筋部加硬型金属磁性端衬板
WO2019153052A1 (fr) * 2018-02-12 2019-08-15 Russell Mineral Equipment Pty Ltd Procédé et système de positionnement de revêtement de broyeur
WO2020132756A1 (fr) * 2018-12-27 2020-07-02 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
WO2021042220A1 (fr) * 2019-09-03 2021-03-11 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
SE2150152A1 (en) * 2021-02-11 2022-08-12 Metso Outotec Finland Oy Liner Equipment
WO2024150117A1 (fr) * 2023-01-09 2024-07-18 Flsmidth A/S Dispositif pour broyer une roche, en particulier un broyeur giratoire, un broyeur à cône, un broyeur à mâchoires ou un broyeur à rouleaux excentriques, ainsi que des procédures d'assemblage et de maintenance
BE1031243B1 (de) * 2023-01-09 2024-08-06 Smidth As F L Vorrichtung zum Brechen von Gestein, insbesondere Kreiselbrecher, Kegelbrecher, Backenbrecher oder Exzenterwalzenbrecher, sowie Montage- und Wartungsverfahren

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2199719A2 (fr) * 2008-12-16 2010-06-23 SMS Siemag Aktiengesellschaft Installation destinée à recouvrir une paroi interne d'une enveloppe, notamment un convertisseur, dotée d'un mur en pierre
AU2012202036A1 (en) * 2005-10-20 2012-05-03 Scanalyse Pty Ltd System and Method for Monitoring Condition of Surface Subject to Wear
CA2847679A1 (fr) * 2011-09-08 2013-03-14 Metso Minerals (Sweden) Ab Systeme de commande et de positionnement pour l'echange d'elements de revetement d'usure sur une paroi sujette a l'usure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2012202036A1 (en) * 2005-10-20 2012-05-03 Scanalyse Pty Ltd System and Method for Monitoring Condition of Surface Subject to Wear
EP2199719A2 (fr) * 2008-12-16 2010-06-23 SMS Siemag Aktiengesellschaft Installation destinée à recouvrir une paroi interne d'une enveloppe, notamment un convertisseur, dotée d'un mur en pierre
CA2847679A1 (fr) * 2011-09-08 2013-03-14 Metso Minerals (Sweden) Ab Systeme de commande et de positionnement pour l'echange d'elements de revetement d'usure sur une paroi sujette a l'usure

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108568336A (zh) * 2017-03-16 2018-09-25 北京环磨科技有限公司 一种筋部加硬型金属磁性端衬板
WO2019153052A1 (fr) * 2018-02-12 2019-08-15 Russell Mineral Equipment Pty Ltd Procédé et système de positionnement de revêtement de broyeur
WO2020132756A1 (fr) * 2018-12-27 2020-07-02 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
WO2021042220A1 (fr) * 2019-09-03 2021-03-11 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
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
SE2150152A1 (en) * 2021-02-11 2022-08-12 Metso Outotec Finland Oy Liner Equipment
WO2022171610A1 (fr) * 2021-02-11 2022-08-18 Metso Outotec Finland Oy Équipement de revêtement
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
WO2024150117A1 (fr) * 2023-01-09 2024-07-18 Flsmidth A/S Dispositif pour broyer une roche, en particulier un broyeur giratoire, un broyeur à cône, un broyeur à mâchoires ou un broyeur à rouleaux excentriques, ainsi que des procédures d'assemblage et de maintenance
BE1031243B1 (de) * 2023-01-09 2024-08-06 Smidth As F L Vorrichtung zum Brechen von Gestein, insbesondere Kreiselbrecher, Kegelbrecher, Backenbrecher oder Exzenterwalzenbrecher, sowie Montage- und Wartungsverfahren

Also Published As

Publication number Publication date
AU2014295812A1 (en) 2016-03-10
AU2014295812B2 (en) 2018-03-15

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