WO2015172262A1 - Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement - Google Patents

Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement Download PDF

Info

Publication number
WO2015172262A1
WO2015172262A1 PCT/CL2014/000024 CL2014000024W WO2015172262A1 WO 2015172262 A1 WO2015172262 A1 WO 2015172262A1 CL 2014000024 W CL2014000024 W CL 2014000024W WO 2015172262 A1 WO2015172262 A1 WO 2015172262A1
Authority
WO
WIPO (PCT)
Prior art keywords
trommel
palms
robotic
removal
grills
Prior art date
Application number
PCT/CL2014/000024
Other languages
English (en)
Spanish (es)
Inventor
Carlos CARMONA ACOSTA
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.
Priority to PCT/CL2014/000024 priority Critical patent/WO2015172262A1/fr
Priority to CA2948927A priority patent/CA2948927C/fr
Priority to AU2014394044A priority patent/AU2014394044B2/en
Publication of WO2015172262A1 publication Critical patent/WO2015172262A1/fr
Priority to CL2016002914A priority patent/CL2016002914A1/es

Links

Classifications

    • 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
    • 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
    • B25J13/085—Force or torque sensors
    • 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

Definitions

  • the present invention relates to the removal and replacement of the wear elements, such as "grills or palms" used in the separation process performed by the Trommel.
  • the invention relates to a robotic machine for the removal and insertion of grills or palms of the Trommel.
  • the invention contemplates the associated method.
  • Trommel which implies a whole procedure to de-energize and energize (LOTO) system, reducing the effective working times.
  • the work of the Trommel must be adapted to those of the mill.
  • the palmettes are removed, which is carried out using two stub bars that are inserted between the palms on one side and hit with a mallet to ensure they reach the bottom of them. Then, the bars are lowered at the same time until the palmetta is completely separated from the knee or fixing rail. At that time the maintainers take the palm from the sides and by horizontal movements, detach the edge of the palm from the missing knee. Then the palm is spoiled and removed from the Trommel to the surface of the mill. The installation of the new palmettes is carried out following the reverse procedure of the removal, adding the impact application with the mallet to insert the palmetto into the fixing rail.
  • the invention reduces the times of change of palmeta, which in turn allows that during the maintenance the great majority or all of the palmetas can be replaced, adapting to the times, available time without affecting the rest of the critical tasks of the maintenance. With these, the reliability of the operation of the Trommel is improved, since the risk of emergency stops is reduced by replacing broken palms.
  • the objective of the present invention is to develop a robotic method and device capable of performing the process of removing and inserting palms autonomously, quickly and safely.
  • the present invention relates to a robotic machine and a method for the removal and insertion of grills or palms of the Trommel.
  • the robotic machine includes three main parts: a tool for taking the palmetto with a damping system (1), a robotic arm (2) with 6 degrees of freedom that manipulates the tool and allows the palmer to be removed and replaced, and a mobile main beam (3) that is anchored to the structure of the building or place of installation or assembly and allows to move the robotic manipulator and introduce it inside the Trommel to carry out the operation.
  • FIGs 1 and 2 represent an overview of the robotic machine for the replacement of palms where the three main parts of the robotic machine are shown inside the Trommel.
  • Figure 3 corresponds to a perspective view of the tool and the robotic arm manipulating a Trommel palm.
  • Figure 4 corresponds to a perspective view of the tool for taking the palm and the robotic arm of the Trommel.
  • Figure 5 corresponds to a detailed perspective view of the tool and the Trommel's palm.
  • Figure 6 corresponds to a perspective view of the robotic arm and its main components.
  • Figure 7 corresponds to a perspective view of the moving main beam and its main components.
  • the present invention describes a robotic machine for the removal and insertion of pallets (19), which is constituted by a tool (1) for taking the palmetto, a robotic arm (2) of 6 degrees of freedom that manipulates the tool and which allows to remove and replace the palmetto and a mobile main beam (3) that is anchored to the structure of the building or place of installation or assembly and that allows to move the manipulator or robotic arm and introduce it inside the Trommel to develop the operation. Additionally, the machine has at least one vision camera that allows remote observation of the operation of the equipment and a control and operation unit that allows the entire machine to be controlled and controlled.
  • the present invention also comprises the method for the removal and insertion of palms.
  • the tool (1) for taking the palmetto (19) consists of a chassis structure (9), four damping systems (6), four pneumatic drives (5) and four pairs of fingers (4).
  • the fingers are introduced into the grooves (21) of the palm (19) between the metal inserts (20) that it possesses and allow safe taking.
  • the pneumatic drives (5) on which the pairs of fingers are mounted allow the fingers to open and close to take and leave the palms according to the logic of operation.
  • the damping system (6) is a unit consisting of springs (7) and a linear guide system (8), on which the pneumatic drive is mounted and whose function is to gradually transmit the reaction force of the palmetto to the robotic arm , in order to avoid impulsive loads in it, which can generate on torques.
  • the chassis structure (9) on which the damping system is mounted gives the rigidity to the tool.
  • the flange coupling (10) that allows the tool chassis to be attached to the robotic arm.
  • the robotic arm (2) for taking and handling the tool consists of a torque sensor (11), a wrist (12), two swing arms (13) and a rotating column (14).
  • the torque sensor is attached to the wrist (12) of the robotic arm and allows the robotic arm to "feel" the force that it applies and depending on that force, changes the trajectories.
  • the wrist (12) allows to rotate and orient the tool according to the point of the palmetto.
  • the swing arms (13) allow the tool to be moved to the different work points of the Trommel.
  • the rotating column (14) which is the base of the entire robotic arm, allows the entire robotic arm to be rotated to reach different positions.
  • the mobile main beam (3) consists of a transverse beam (15), a support structure (17), a driving system (16) and a mobile carriage (18).
  • the robotic arm is mounted on the transverse beam (15) and said main beam is moved allowing the robotic arm to enter and exit the Trommel.
  • the driving system (16) displaces the transverse beam.
  • the support structure (17) on which the transverse beam and the drive system are mounted allows the entire unit to be anchored to the structure of the building or mounting location.
  • the mobile carriage (18) that travels over the transverse beam has two compartments where on one hand the robotic arm deposits the removed palms and on the other hand loads the new palms, this car allows the palms to be moved from and into the interior of the Trommel.
  • the control and operation unit of the robotic machine corresponds to a group of cabinets that are located on the main beam, which have the function of providing power and control to the robotic machine, in addition to having controls for your command and monitoring.
  • the cabinets that make up the robotic machine are: the force board or TDF, the control board or TDC and the human machine or HMI interface, which are described below: TDF: Corresponds to the cabinet that contains the surge protection elements , protections to electrical equipment of the control cabinet, local control cabinet of the robotic arm and equipment such as the same robotic arm and HMI operator panel. Also, there is the monopolar bar for the electrical distribution to the different elements and cabinets. It has a single phase thermomagnetic main disconnector to open or close the electrical energy input circuit, in addition to pilot light indicators.
  • TDC Corresponds to a board to house the components responsible for controlling the equipment, the basis of this cabinet is its main controller, internal memory and management of a module of digital inputs.
  • HMI Corresponds to the panel for online monitoring and control of the process with connection to the main controller.
  • the terminals support operator data entry by means of a screen, one or two remote controls and buttons for the opening and closing of tools.
  • a security architecture that is formed by a controller that monitors all the safety signals of the robotic machine, emergency stops and torques of the robotic machine.
  • the emergency stops are SETA type and are in the operation panel and next to the accesses and windows.
  • the activation of the emergency stops causes the robotic machine to stop.
  • the restoration of an emergency stop by itself does not leave the machine in a position to re-enter operation, recognition of the emergency stop by the operator is always required.
  • the emergency stops are reset in the area where it was activated, but the emergency stops are recognized through the operation screen.
  • the robotic machine is operated by an operation console located In a safe place on the mobile main beam (3), in this operating console the robotic machine is commanded and configured for the removal and insertion of palms.
  • the machine is turned on and the transverse beam (15) moves towards the interior of Trommel, for which it is supported by the vision or inspection cameras, which help it to be positioned at a distance, then the mobile car is loaded with the Palms that will be mounted and it moves through the transverse beam inside the Trommel next to the robotic arm.
  • the robotic arm of the robotic machine is positioned in the line of action of the palms to be replaced and depending on the information provided by the operator, the robotic arm moves towards the palmetto (19) to be removed, the pairs are activated of fingers (4) and the palmeta is toimated.
  • the robotic arm pulls the palm (19) causing it to rotate around one of the anchor radons, completely releasing one side first, then continuing with the other, thus completely releasing the palm.
  • the robotic machine by means of the robotic arm moves the palm to the mobile carriage (18) and leaves it in the compartment of the used palms, then the robotic arm takes a new palm from the other compartment of the same mobile carriage (18) and performs the reverse sequence for the insertion of the new palm in the Trommel.
  • the operator can tele-operate the robotic machine through the operating console.
  • the method of removing and inserting grills or pallets comprises, prior to starting the removal and insertion sequence, loading the corresponding mobile car compartment with new palms.

Abstract

Selon l'invention, une machine robotique pour le retrait et l'insertion de grilles (19) d'un trommel comprend un outil pour la saisie de la grille, un bras robotique à 6 degrés de liberté qui manipule l'outil et permet de retirer et de remplacer la grille, et une poutre principale mobile qui est fixée à la structure de l'édifice ou du lieu d'installation ou de montage et qui permet de déplacer le manipulateur ou bras robotique et de l'introduire à l'intérieur du trommel pour effectuer l'opération. En outre, l'invention concerne le procédé de fonctionnement de la machine robotique.
PCT/CL2014/000024 2014-05-16 2014-05-16 Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement WO2015172262A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CL2014/000024 WO2015172262A1 (fr) 2014-05-16 2014-05-16 Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement
CA2948927A CA2948927C (fr) 2014-05-16 2014-05-16 Machine robotique pour le retrait et l'insertion de grilles de trommel et son procede de fonctionnement
AU2014394044A AU2014394044B2 (en) 2014-05-16 2014-05-16 Robotic machine for removing and inserting trommel screens, and operating method thereof
CL2016002914A CL2016002914A1 (es) 2014-05-16 2016-11-16 Máquina robótica para el retiro e inserción de parrillas trommel y su método de operación.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2014/000024 WO2015172262A1 (fr) 2014-05-16 2014-05-16 Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement

Publications (1)

Publication Number Publication Date
WO2015172262A1 true WO2015172262A1 (fr) 2015-11-19

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PCT/CL2014/000024 WO2015172262A1 (fr) 2014-05-16 2014-05-16 Machine robotique pour le retrait et l'insertion de grilles de trommel et son procédé de fonctionnement

Country Status (4)

Country Link
AU (1) AU2014394044B2 (fr)
CA (1) CA2948927C (fr)
CL (1) CL2016002914A1 (fr)
WO (1) WO2015172262A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2021042219A1 (fr) * 2019-09-03 2021-03-11 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
WO2021042221A1 (fr) * 2019-09-03 2021-03-11 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
CN112593974A (zh) * 2020-12-03 2021-04-02 重庆文理学院 一种用于隧道管片安装装置及其安装方法
CN113117871A (zh) * 2019-12-30 2021-07-16 奥图泰(芬兰)公司 维护研磨机的篦的方法以及维护装置
CN114320384A (zh) * 2021-11-25 2022-04-12 中国煤炭科工集团太原研究院有限公司 铺网执行机构和锚杆钻车
WO2022126183A1 (fr) * 2020-12-18 2022-06-23 Schenck Process Australia Pty Limited Retrait et remplacement de module de panneau robotique dans un appareil de traitement de minerai

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4676713A (en) * 1985-12-06 1987-06-30 Voelpel Charles E Material handling machine
DE3804214A1 (de) * 1988-02-11 1989-08-24 Fraunhofer Ges Forschung Vorrichtung zum streckenausbau
DE4012596A1 (de) * 1989-12-19 1991-06-20 Heisterkamp Helmut A Dipl Ing Streckenausbaumaschine
US20070152616A1 (en) * 2005-11-10 2007-07-05 Hugo Salamanca Robot system and method for cathode selection and handling procedures after the harvest
CN103306690A (zh) * 2013-06-19 2013-09-18 上海隧道工程股份有限公司 隧道加固机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4676713A (en) * 1985-12-06 1987-06-30 Voelpel Charles E Material handling machine
DE3804214A1 (de) * 1988-02-11 1989-08-24 Fraunhofer Ges Forschung Vorrichtung zum streckenausbau
DE4012596A1 (de) * 1989-12-19 1991-06-20 Heisterkamp Helmut A Dipl Ing Streckenausbaumaschine
US20070152616A1 (en) * 2005-11-10 2007-07-05 Hugo Salamanca Robot system and method for cathode selection and handling procedures after the harvest
CN103306690A (zh) * 2013-06-19 2013-09-18 上海隧道工程股份有限公司 隧道加固机器人

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
WO2021042219A1 (fr) * 2019-09-03 2021-03-11 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
WO2021042221A1 (fr) * 2019-09-03 2021-03-11 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
CN113117871A (zh) * 2019-12-30 2021-07-16 奥图泰(芬兰)公司 维护研磨机的篦的方法以及维护装置
CN113117871B (zh) * 2019-12-30 2024-05-07 美卓奥图泰芬兰有限公司 维护研磨机的篦的方法以及维护装置
CN112593974A (zh) * 2020-12-03 2021-04-02 重庆文理学院 一种用于隧道管片安装装置及其安装方法
WO2022126183A1 (fr) * 2020-12-18 2022-06-23 Schenck Process Australia Pty Limited Retrait et remplacement de module de panneau robotique dans un appareil de traitement de minerai
CN114320384A (zh) * 2021-11-25 2022-04-12 中国煤炭科工集团太原研究院有限公司 铺网执行机构和锚杆钻车
CN114320384B (zh) * 2021-11-25 2023-08-04 中国煤炭科工集团太原研究院有限公司 铺网执行机构和锚杆钻车

Also Published As

Publication number Publication date
AU2014394044B2 (en) 2019-04-04
CL2016002914A1 (es) 2017-04-28
AU2014394044A1 (en) 2016-12-01
CA2948927A1 (fr) 2015-11-19
CA2948927C (fr) 2020-12-15

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