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1. WO2020132756 - SYSTEM AND METHOD FOR CHANGING LINERS, THE CONFIGURATION OF WHICH ALLOWS THE AUTOMATED REMOVAL AND INSERTION OF LINERS OF A MILL USED FOR ORE GRINDING

Publication Number WO/2020/132756
Publication Date 02.07.2020
International Application No. PCT/CL2018/050150
International Filing Date 27.12.2018
IPC
B02C 17/18 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating 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
18Details
B02C 17/22 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating 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
18Details
22Lining for containers
B02C 23/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
23Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in groups B02C1/-B02C21/ or not specially adapted to apparatus covered by one only of groups B02C1/-B02C21/303
B23P 19/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines 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
02for connecting objects by press fit or for detaching same
B23P 19/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines 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
04for assembling or disassembling parts
B25J 9/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
CPC
B02C 17/18
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating 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
18Details
B02C 17/22
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
17Disintegrating 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
18Details
22Lining for containers
B02C 23/00
BPERFORMING OPERATIONS; TRANSPORTING
02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
23Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
B23P 19/02
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation
02for connecting objects by press fit or for detaching same
B23P 19/04
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
19Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation
04for assembling or disassembling parts
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Applicants
  • MI ROBOTIC SOLUTIONS S.A. [CL]/[CL]
Inventors
  • SALAMANCA POBLETE, Hugo
  • BAEZA RAMIREZ, Luis
Agents
  • FLORES ACUÑA, José Miguel
Priority Data
Publication Language Spanish (ES)
Filing Language Spanish (ES)
Designated States
Title
(EN) SYSTEM AND METHOD FOR CHANGING LINERS, THE CONFIGURATION OF WHICH ALLOWS THE AUTOMATED REMOVAL AND INSERTION OF LINERS OF A MILL USED FOR ORE GRINDING
(ES) 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
(FR) 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
Abstract
(EN)
The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.
(ES)
Un sistema y procedimiento para el recambio de revestimientos de un molino, cuya configuración permita la manipulación automatizada y robótica de revestimientos de molinos para la molienda de minerales en procesos de conminución, cuya configuración y operación permita mejorar la tarea de manipulación 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 detención del molino por mantenimiento, así 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 alimentación y desplazamiento de revestimientos, al menos un sistema manipulador robótico de los revestimientos, al menos una herramienta de manipulación de revestimientos, al menos un sistema de visión artificial y al menos un sistema de control.
(FR)
L'invention concerne un système et un procédé pour le remplacement de revêtements d'un broyeur, dont la configuration permet la manipulation automatisée et robotique de revêtements de broyeurs pour le broyage de minerais dans des procédés de concassage, dont la configuration et le fonctionnement permettent d'améliorer le travail de manipulation du fait d'un plus grand degré de liberté et/ou de flexibilité des mouvements, assurant au procédé un plus grand degré de fiabilité et d'efficacité, optimisant par conséquent le temps d'arrêt du broyeur lié à l'entretien, et évitant ainsi les risques auxquels peut être soumis le personnel d'entretien. Le système comprend au moins une structure de support, au moins un système d'alimentation et de déplacement de revêtements, au moins un système manipulateur robotique des revêtements, au moins un outil de manipulation de revêtements, au moins un système de vision artificielle et au moins un système de commande.
Also published as
Latest bibliographic data on file with the International Bureau