WO2015172262A1

WO2015172262A1 - Robotic machine for removing and inserting trommel screens, and operating method thereof

Info

Publication number: WO2015172262A1
Application number: PCT/CL2014/000024
Authority: WO
Inventors: Carlos CARMONA ACOSTA
Original assignee: Mi Robotic Solutions S.A.
Priority date: 2014-05-16
Filing date: 2014-05-16
Publication date: 2015-11-19
Also published as: AU2014394044B2; AU2014394044A1; CA2948927A1; CL2016002914A1; CA2948927C

Abstract

The invention relates to a robotic machine for removing and inserting trommel screens or panels (19), said machine comprising: a tool for grabbing the panel; a robotic arm with 6 degrees of freedom which manipulates the tool and which permits the panel to be removed and replaced; and a mobile main beam which is anchored to the structure of the building or site of installation or assembly, and which permits the manipulator or robotic arm to be moved and inserted inside the trommel, in order to carry out the operation. The invention also relates to the method for operating said robotic machine.

Description

ROBOTIC MACHINE FOR THE REMOVAL AND INSERTION OF GRILLS

TROMMEL AND ITS OPERATING METHOD

DESCRIPTION

Field of the Invention

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. In addition, the invention contemplates the associated method.

Background of the Invention

In the milling process of the different concentrator plants that use SAG mills, a size selection is required at the exit of the mill, a function that is carried out by the Trommel, a team that rotates in solidarity with the Mlolino SAG and whose inner surface is covered by grills or classification palms, which have grooves. Due to the impact of the ore on the grills, they are subjected to constant wear, which is why they must be continuously changed.

The change of grills or palmetas is done completely manually and must be coordinated with the overall maintenance of the mill, which generates a series of interferences, which makes it impossible to change all the palmettes, during the period of maintenance of the mill. To this must be added the reduced work area which makes it impossible to perform tasks in parallel.

Among the activities that infer with the procedure of change of palmetas are:

Change of harnero: The crane passes over the Trommel with the harnero, what which involves stopping work and clearing the area.

Maintenance of water injection flutes: The two flutes are removed and taken to a point where they are cleaned. These have their center of mass at a point within the Trommel which makes it difficult for the slings to pass. · The maintenance of the SAG requires constant turns of the SAG set

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 activity of changing palmetas requires a series of previous works such as:

• Housing removal

• Indoor cleaning

• Scaffolding installation

• Life rope installation

· Determination of the palmetas to change

• Collection of new palms

After carrying out the previous activities, 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. Action of great danger for the maintainers since the rebound of this when hitting the rubber of the palmeta requires great skill and attention not to be hit. Vulnerabilities of the current process Production: the current procedure does not allow the complete replacement of the palmettes, which implies a risk of leaving palms with wear that could potentially fail during the next operation campaign. There is a risk of stopping production to change a palm that breaks.

Occupational safety and health:

o The current procedure involves entering the interior of the Trommel, which is intrinsically already risk, work at height and fall from the mining company from Trommel itself among others.

o Maintainers must handle the palmettes, which implies a high physical requirement and risks of blows or entrapment in the removal and insertion of the palms.

In the state of the art there is the national application 3496-2012, which refers to a collection and release system comprising a collection mechanism comprising a robotic arm, a collection device rotatably mounted on the robotic arm , a movable insertion device; further describing a method for taking and releasing an object with a collection system. In this application, a method that involves a robotic arm for the removal and insertion of grills or palms of the Trommel is not described.

On the other hand, there is the national application 2642-2005, which describes a robotic method for the SAG mill bolt removal procedure, which in turn comprises providing a robotic arm with at least 5 degrees of freedom, taking a Nut cutter tool of a tool rack, cut or loosen the nut and take a bolt remover tool and throw away a mill clamp bolt. In application 2642-2005, a bolt removal procedure is described, but a method for the removal and insertion of grills or palms of the Trommel is not described.

In the state of the art, there is no history that refers to a method for the removal and insertion of grills or palms of the Trommel, therefore, there is a need to have a method that automates the exchange operation of palmetas, removing people from this operation and reducing the times of this activity.

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.

Therefore, 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.

Summary of the Invention

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.

Brief Description of the Figures

Figures 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.

Detailed description of the invention

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. In addition, there is 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. And 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.

Additionally, there is 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. After 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. Once the palm is released from the Trommel, 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. In the event that the robotic arm cannot automatically remove the palm from 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.

Claims

1. Robotic machine for the removal and insertion of grills or palmettes (19) from the Trommel, CHARACTERIZED because it comprises 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.

2. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED because the tool (1) for taking the palm (19) consists of a chassis structure (9), four damping systems (6), four pneumatic drives (5) and four pairs of fingers (4), and where it also includes a flange coupling (10), which allows the tool chassis to be attached to the robotic arm.

3. Robotic machine for the removal and insertion of grills or palms of Trommel, according to claim 2, CHARACTERIZED because each damping system (6) is a unit composed of springs (7) and a linear guide system (8) , on which one of the pneumatic drives is mounted.

4. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED because the palm (19) has grooves (21) and metal inserts (20) and because the fingers are introduced into the inside the grooves between the metal inserts, to safely take the palm.

5. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 2, CHARACTERIZED because each pair of fingers is mounted on one of the pneumatic drives, which in turn are mounted on the damping system , which joins the chassis structure through the linear system.

6. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED because the robotic arm (2) for the taking and manipulation of the tool, consists of a torque sensor (1 1) , a wrist (12), two swing arms (13) and a rotating column (14).

7. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 6, CHARACTERIZED because the torque sensor is attached to the wrist (12) and allows the robotic arm to "feel" the force applied, and depending on that force, the trajectories change; because the wrist (12) allows to rotate and orient the tool according to the point of taking of the palmeta; the swing arms (13) allow the tool to be moved to the different work points of the Trommel; and 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.

8. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED in that the movable main beam (3) consists of a transverse beam (15), a support structure (17), a drive system (16) and a mobile car (8).

9. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 8, CHARACTERIZED because the robotic arm is mounted on the transverse beam (15), allowing the moving main beam to move to allow the arm robotic enter and exit the Trommel. 0. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 9, CHARACTERIZED because the support structure (17) is the base of the mobile main beam and on it the transverse beam is mounted and the drive system, allowing the entire unit to be anchored to the building structure or mounting location and the drive system (16) displaces the transverse beam.

1 1. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 10, CHARACTERIZED because the mobile carriage (18) it is located on the transverse beam and moves over said transverse beam, allowing the palms to be moved from and into the Trommel; and because the mobile car has two compartments, one for depositing the removed palms and the other for depositing the new palms.

12. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED because in addition, the machine has at least one vision camera that allows remote observation of the operation of the equipment and a control unit and operation that allows to control and command the whole machine.

13. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 12, CHARACTERIZED because the control and operation unit corresponds to a group of cabinets that are located on the moving main beam, which correspond to a force board or TDF, a control board or TDC and a human machine or HM interface.

14. Robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 1, CHARACTERIZED because in addition, the robotic machine has a safety structure, formed by a controller that monitors all the safety signals of the robotic machine, emergency stops and torques of the robotic machine.

15. Method of operation of a robotic machine for the removal and insertion of grills or palms of the Trommel, according to claims 1 to 14,

CHARACTERIZED because it includes:

- turn on the robotic machine, which moves the transverse beam (15) into the Trommel;

- position the robotic arm of the robotic machine in the line of action of the palms to be replaced;

- move the robotic arm towards the palm (19) to be removed;

- activate the pairs of fingers (4);

- take the palm to remove with the pairs of fingers;

- pull the palm with the robotic arm, making the palm rotate, to completely release one side first and then the other side of the palm to remove;

- transfer the fretted palmetto to the mobile car (18), using the robotic arm;

- leave the palmeta released in the space of used palms of the mobile car;

- take a new palm with the robotic arm, from the same mobile car and perform the reverse operation to the withdrawal and thus achieve the insertion of the new palm.

16. Method of operation of a robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 15, CHARACTERIZED because the vision camera possessed by the robotic machine helps the transverse beam to be positioned at a distance.

17. Method of operation of a robotic machine for the removal and insertion of grills or palms of the Trommel, according to claim 16, CHARACTERIZED because prior to initiating the removal and insertion of grills or palms, the mobile car is loaded with the palms. new ones to be mounted, in the respective compartment.