WO2015010163A1 - System for use in mounting an exchangeable wear lining element - Google Patents
System for use in mounting an exchangeable wear lining element Download PDFInfo
- 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
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- WO
- WIPO (PCT)
- Prior art keywords
- holes
- mounting
- lining element
- wear lining
- sensor
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
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- 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
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- 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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Abstract
A method of mounting an exchangeable wear lining element at an inner surface of a mill wall that is subject to wear, 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 element during a mounting operation. The wall is provided a first set of holes and the wear lining element is equipped with a second set of holes. The wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through the first set and second set of holes. At least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set or second set of holes, in such a manner that the field of view of said sensor will be at least one of the second set of holes when said sensor is inside one of the holes of the first set of holes, or will be at least one of the first set of holes when said sensor is inside one of the holes of the second set of holes. The sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole 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 the wall can be determined.
Description
SYSTEM. FOR USE IN MOUNTING AN EXCHANGEABLE WEAR. LINING ELEMENT TECHNICAL FIELD
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.
BACKGROU D
Wear lining elements (sacrificial liners) 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 An example of a conventional liner segment fastener system is shown in US Patent No. 4018393 (Larsen). Typically the bolts used for such application are referred to as linerbolts.
Attempts have been made to improve wear lining segment fastening, which results in easier removal and replacement of liner segments. For example, U S Patent No.6082646 (Clarke et al.) 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.
A more recent wear lining segment fastening system is disclosed in WQ20O /OQ8810 (Metso Mineral {Wear Protection) AB) i which the wear lining elements are equipped with threaded holes with associated guide pegs.
Various types of lifting and handling equipment, such as lifting cranes, are used for placement of the wear lining elements against the internal casing of the mill. 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, With the aid of the 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.
With the aid of a number of rotational degrees of freedom its attitude also can normall be controlled, for example the roll, pitch and yaw angles of the grip arrangement.
One of the major problems when exchanging drum linings is the difficulty of positioning and adapting each individual wear lining element, such that its mounting hole or attachment means are aligned with the attachment (fixing) holes that are arranged in the mill casin before the wear lining element can be moved into place, and the fasteners secured thereto. During mounting of wear lining elements, it is typical for the crane operator, by radio or similar, to be in wireless communication with personnel who are in the close vicinity of the intended mounting location of the wear lining element or a support surface on the wall (mill casing). The crane operator receives commands and information about how the wear lining element is to be oriented in order for the mounting holes of the wear lining element to be located in line with the mounting holes of the wall. In order to provide the information required to make it possible for the crane operator t align the mounting holes of the wear lining element with the fixing holes in the mill easing , the personnel must be present dangerously close to the mounting location and, in certain cases, under the wear lining element that is suspended from the crane arm. It should be understood that this operation is quite unsafe, not least because the wear lining elements that are being exchanged are typically very heavy.
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. The edge of the liner hole is visible and is used as a reference to align the fixing holes.
Another system which attempts to improve the control and positioning of a wear lining element relative to the internal surface of a mill casing (or wall) is disclosed in WO2013/Q36T94 (Metso Minerals (Sweden) AB). In this system a two-dimensional sensor (an image recording camera) is disposed externall of the mill, and used to determine the relative position of the wear linin element and a determined mounting position on the inner surface of the wall. In this arrangement the camera sees the wear lining element through a mounting hole in the wall. This system ha certain disadvantages, the first of which i that as the two-dimensional sensor (camera) is outside the mill, its field of vision is restricted to some extent. Secondly as it is a two dimensional sensor it. can only be used for the relative position in an X-Y plane, and cannot be used to determine the relative depth of the wear lining element relative to the wall.
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.
Furthermore the current 20 systems cannot be employed i automated rail! relimng operations.
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.
SUMMARY OF THE INVENTION
According to a first aspect 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. that is a component of a lifting arrangement that is controlled during the handling of the wear lining element during amounting operation, whereby said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least second set of mounting holes, whereby the wear lining
element is intended- to be tightened against, the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to he introduced into one of said holes 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 said sensor will be at least one of said second set of mounting holes when said sensor is inside one of said holes of said first set of fixing holes, or will be at least one of said first set of fixing holes when said sensor is insid one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represent a relative position between itself and the respective hole 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 wall can be determined.
Preferably 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.
Preferably 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.
Preferably said three-dimensional sensor is anyone of a laser device, range camera, time of flight camera or a field sensor.
Preferably the. control and positioning system further comprising a CPU/control unit. Preferably the control and positioning system further comprising a monitor,
Preferably said mounting operation i controlled by an operator in the vicinity of said mountin operation and capable of viewing said monitor.
Preferably 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*
Preferably said second set of mounting holes on said wear lining element are blind holes.
According to a second aspect 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. of fixing holes and the wear lining element i equipped with at least a second set of mounting holes, whereby 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. According to a third aspect 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 element during a mounting operation, whereby said wall is provided with at least a first set of fixing holes and the- wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface b means of attachment means that, are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes 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 said sensor will be at least one of said
second set of mounting holes when said sensor is inside one of said holes of said first set of fixing holes, or will be at least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view nd provide an image nd with the guidance of said image the mountin position of said wear lining element at said wall can be determined.
According to a fourth aspect 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.
BRIEF DESCRIPTION OF THE DRAWINGS
A preferred embodiment of the invention will now be described, by way of example only, with reference to the accompanying drawing in which;
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.
BEST MODE OF CARRYING OUT INVENTION
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
In this embodiment 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,
It should be understood that the term "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.
In this embodiment each sensor 5 is introduced from outside of mill casing 3, and placed into a fixing hole 7. Preferably 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. As can be seen in Fig. 1 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. As shown in Fig. 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. In use, 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 2½D (a 2D picture of the X-Y plane with distance readout for the Z axis).
Whilst 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.
In 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. In this embodiment, each fixing hole 7 is the necessary reference identifier. Like that in the first embodiment, 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.
The use of 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.
In the abovementkmed embodiments two three-dimensional sensors 5 are employed. However, it should be understood that in other not. shown embodiments 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. In such arrangement 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.
It should also be understood that more than two three-dimensional sensors 5, say three sensors 5, could be used to improve alignment.
It should be understood that the 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.
It should also be understood that 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. In the abovementioned embodiments "fixing holes 7" i mill casing 3 and "mounting holes 2" in liner 1, are all attachment holes, The terms "fixing" and "'mounting" have been used to differentiate the attachment holes in mill casing 3 from those in liner L
The terms "comprising" and "including" (and their grammatical variations) as used herein are used in inclusive sense and not in the exclusive sense of "consisting onl of.
Claims
1. 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, whereby said wall is. provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting boles, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes of either said first set. of fixing holes or said second set of mounting boles, in such a manner that the field of view of said sensor will be at least one of said second set of mounting holes when said sen or i inside one of said holes of said first set of fixing holes, or will be at least one of said first set of fixing holes when said sensor is inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view and provide a image and with the guidance of said image the mounting positio of said wear lining element at said wall can be determined.
2. A control and positioning system as claimed in claim 1 , wherein 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,
3. A control and positioning system as claimed in claim 1, wherein 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.
4. A control and positioning system as claimed in claim 1, wherei said three-dimensional sensor is anyone of a laser device, range camera, time of flight camera or a field sensor.
5. A control and positioning system a claimed in claim 1 , further comprising a CPU/control unit.
6. A control and pmitioning system as claimed in claim 5, further comprising a monitor.
7. A control and positioning system as claimed in claim 6, wherein said mounting operation i controlled by an operator in tie vicinit of said mounting operation and capable of viewing said monitor.
8. A control and positioning system as claimed in claim 6, wherein said mounting operation is controlled by an operator remote from said mounting operation and capable of viewin said monitor, said CPU/control unit and said monitor in communication with said sensors using wireless and/or cable communication,
9. A control and positioning system as claimed in claim 1, wherein said second set of
mounting holes on said wear lining element are blind holes.
10. 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 wail 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 lifti g 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 of fixing holes and the wear lining element is equipped with at least second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by means of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that two three-dimensional sensors are arranged to be introduced into respective holes 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 each said sensor is inside one of said holes of said second set of mounting holes, whereby said sensors are arranged to transmit signals that represents relative position between the themselves and the respective holes within their field of vie and in combination provide an image and with the guidance of said image die mounting position of said wear lining element at said wall can be determined.
1 1 , 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 element during a mounting operation, whereb said wall is provided with at least a first set of fixing holes and the wear lining element is equipped with at least a second set of mounting holes, whereby the wear lining element is intended to be tightened against the surface by mean of attachment means that are introduced through said first set of fixing holes and said second set of mounting holes, characterised in that at least one three-dimensional sensor is arranged to be introduced into one of said holes 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 said sensor will be at least one of said second set of mounting holes when said sensor is inside one of said holes of said first set of fixing holes, or will be at .least one of said first set of fixing holes when said sensor i inside one of said holes of said second set of mounting holes, whereby said sensor is arranged to transmit a signal that represents a relative position between itself and the respective hole within its field of view and provide, an image and with the guidance of said i mage the mounting position: of said wear lining element at said wall can be determined.
12. 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 element 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 wea lining element to said mill casing, whereby at least one three-dimensional sensor is placed within one of said attacliment holes on either said wear liner element or mill casing so that it has within it 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 wall can be determined.
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 (en) | 2015-01-29 |
Family
ID=52392512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AU2014/050134 Ceased WO2015010163A1 (en) | 2013-07-22 | 2014-07-18 | System for use in mounting an exchangeable wear lining element |
Country Status (2)
| Country | Link |
|---|---|
| AU (1) | AU2014295812B2 (en) |
| WO (1) | WO2015010163A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568336A (en) * | 2017-03-16 | 2018-09-25 | 北京环磨科技有限公司 | A kind of muscle portion hardening type metal magnetic aside-liner |
| CN109890518A (en) * | 2016-09-16 | 2019-06-14 | 美卓（瑞典）公司 | Padding device and method of securing padding elements to a support structure |
| WO2019153052A1 (en) * | 2018-02-12 | 2019-08-15 | Russell Mineral Equipment Pty Ltd | Method and system for use in positioning a mill liner |
| WO2020132756A1 (en) * | 2018-12-27 | 2020-07-02 | Mi Robotic Solutions S.A. | 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 |
| WO2021042220A1 (en) * | 2019-09-03 | 2021-03-11 | Mi Robotic Solutions S.A. | Device or tool for gripping a liner to remove same from and install same in the shell of a mill; method for installing a liner; and method for removing a liner |
| SE2150152A1 (en) * | 2021-02-11 | 2022-08-12 | Metso Outotec Finland Oy | Liner Equipment |
| WO2024150117A1 (en) * | 2023-01-09 | 2024-07-18 | Flsmidth A/S | Device for crushing rock, in particular gyratory crusher, cone crusher, jaw crusher or eccentric roller crusher, as well as assembly and maintenance procedures |
| BE1031243B1 (en) * | 2023-01-09 | 2024-08-06 | Smidth As F L | Device for crushing rock, in particular gyratory crushers, cone crushers, jaw crushers or eccentric roller crushers, as well as assembly and maintenance methods |
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| EP2199719A2 (en) * | 2008-12-16 | 2010-06-23 | SMS Siemag Aktiengesellschaft | Assembly for cladding an internal wall of a casing, particularly of a converter, with stone masonry |
| AU2012202036A1 (en) * | 2005-10-20 | 2012-05-03 | Scanalyse Pty Ltd | System and Method for Monitoring Condition of Surface Subject to Wear |
| CA2847679A1 (en) * | 2011-09-08 | 2013-03-14 | Metso Minerals (Sweden) Ab | Control and positioning system for the exchange of wear lining elements on a wall subject to wear |
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| AU2012202036A1 (en) * | 2005-10-20 | 2012-05-03 | Scanalyse Pty Ltd | System and Method for Monitoring Condition of Surface Subject to Wear |
| EP2199719A2 (en) * | 2008-12-16 | 2010-06-23 | SMS Siemag Aktiengesellschaft | Assembly for cladding an internal wall of a casing, particularly of a converter, with stone masonry |
| CA2847679A1 (en) * | 2011-09-08 | 2013-03-14 | Metso Minerals (Sweden) Ab | Control and positioning system for the exchange of wear lining elements on a wall subject to wear |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109890518A (en) * | 2016-09-16 | 2019-06-14 | 美卓（瑞典）公司 | Padding device and method of securing padding elements to a support structure |
| CN108568336A (en) * | 2017-03-16 | 2018-09-25 | 北京环磨科技有限公司 | A kind of muscle portion hardening type metal magnetic aside-liner |
| WO2019153052A1 (en) * | 2018-02-12 | 2019-08-15 | Russell Mineral Equipment Pty Ltd | Method and system for use in positioning a mill liner |
| AU2019216882B2 (en) * | 2018-02-12 | 2024-05-23 | Russell Mineral Equipment Pty Ltd | Method and system for use in positioning a mill liner |
| WO2020132756A1 (en) * | 2018-12-27 | 2020-07-02 | Mi Robotic Solutions S.A. | 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 |
| US12138633B2 (en) | 2018-12-27 | 2024-11-12 | Mi Robotic Solutions S.A. | 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 |
| EP4026619A4 (en) * | 2019-09-03 | 2023-06-07 | Mi Robotic Solutions S.A. | DEVICE OR TOOL FOR GRIPPING A LINER FOR ITS EXTRACTION AND INSTALLATION FROM THE HULL OF A CRUSHER; METHOD OF INSTALLING A COATING; COATING EXTRACTION METHOD |
| WO2021042220A1 (en) * | 2019-09-03 | 2021-03-11 | Mi Robotic Solutions S.A. | Device or tool for gripping a liner to remove same from and install same in the shell of a mill; method for installing a liner; and method for removing a liner |
| WO2022171610A1 (en) * | 2021-02-11 | 2022-08-18 | Metso Outotec Finland Oy | Liner equipment |
| EP4291335A1 (en) * | 2021-02-11 | 2023-12-20 | Metso Outotec Finland Oy | Liner equipment |
| 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 |
| CN114918015A (en) * | 2021-02-11 | 2022-08-19 | 美卓奥图泰芬兰有限公司 | Lining device |
| SE2150152A1 (en) * | 2021-02-11 | 2022-08-12 | Metso Outotec Finland Oy | Liner Equipment |
| WO2024150117A1 (en) * | 2023-01-09 | 2024-07-18 | Flsmidth A/S | Device for crushing rock, in particular gyratory crusher, cone crusher, jaw crusher or eccentric roller crusher, as well as assembly and maintenance procedures |
| BE1031243B1 (en) * | 2023-01-09 | 2024-08-06 | Smidth As F L | Device for crushing rock, in particular gyratory crushers, cone crushers, jaw crushers or eccentric roller crushers, as well as assembly and maintenance methods |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2014295812A1 (en) | 2016-03-10 |
| AU2014295812B2 (en) | 2018-03-15 |
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