Removal and replacement of robot panel modules in ore processing equipment

Abstract

The present specification discloses a robotic apparatus for removing a worn processing panel module from a processing platform of an ore material processing plant without requiring a worker to enter the ore material processing plant, the robotic apparatus comprising a robotic support structure carried on a transport device whereby the robotic support structure follows a route on the processing platform, the robotic apparatus further comprising a processing panel module handling mechanism connected to the robotic support structure for movement along a defined movement path, and first drive means for selectively moving the processing panel module handling mechanism along the defined movement path, the processing panel module handling mechanism in turn comprising a tool device adapted to mount at least a tool device intended to cooperate with a processing panel module selected for removal from the processing platform, the tool device being capable of engaging the panel module to lift the panel module out of the processing platform.

Description

Technical Field

[0001] This development relates to the field of removing worn processing panel modules from an array of side-by-side processing panel modules of a processing platform for forming ore or quarry material processing equipment, and preferably replacing such worn processing panel modules by replacing the processing panel modules.

[0002] Throughout this specification, including the appended patent claims, terms such as “processing panel module” are intended to include a screening panel module, a dewatering panel module, and an impact panel module, and “processing platform” is intended to include a screening platform, a dewatering platform, and an impact platform. “Processing equipment” is intended to identify an apparatus having one or more processing platforms as described above. Background Technology

[0003] Ore processing equipment used for crushing and / or screening ore or quarry material commonly employs a processing platform partially composed of panel modules positioned in a side-by-side array, generally adjacent to each other and having an upward-facing processing surface. The ore material can be vibrated on the processing platform and screened through sieve openings of specific sizes and / or shapes, or it can simply pass along the processing platform to be at least partially crushed in the process. The processing panel modules are typically secured along their adjacent edge regions to a lower support rail that generally extends in the longitudinal direction of the processing platform by various fixing elements. Commonly used fixing systems utilize fixing elements in the form of retaining pins that fit into inner holes formed by contoured recessed areas in the adjacent edge regions; however, other fixing systems exist, including arrangements where the fixing structure integral with the processing panel module directly engages with the lower support rail, etc.

[0004] When using retaining pins, the pin passes through an inner hole and through an opening in the lower support rail to secure it directly or indirectly to the underside of the rail via a downwardly projecting portion of the panel module. A type of retaining pin consisting of a two-part assembly including a bushing and a separate center pin is also known, where there is no panel lug passing through an opening or hole in the lower support rail. This is more commonly used in heavier-load applications. Other securing systems are also used, employing several other forms of securing methods, including snap-fit ​​engagements with the lower support structure or intermediate members. Clamping fasteners, similar to retaining pins, are used at point locations via openings or holes in the support platform rail. Clamping fasteners are also used where the entire edge of the panel module is clamped by a fastening element, which is a long member fastened to the platform rail opening, or, in some arrangements, directly to the lower support crossbeam where a platform support rail may not be present. Some of these fasteners are branded with names including “polysnap,” “CP-HDB,” “KBX,” “H-Pin,” and “HDK-Pin.”

[0005] Screening and other similar ore or quarry material handling equipment may also include cover components adapted to serve as shielding between the lower surface of the processing panel module and the upper surface of the support structure for the processing panel module. The cover components may also include sections that contribute to or partially participate in securing the processing panel module to the underlying support structure. The cover components are commonly made of materials similar to those forming the outer surface areas of the processing panel module and are also susceptible to wear and damage during use of the ore or quarry material handling equipment.

[0006] The development of modular ore processing platform structures has been underway for some time because ore processing platforms tend to wear out unevenly during use. Using a modular processing platform structure allows for the removal and replacement of selected worn individual processing panel modules, rather than requiring the replacement of the entire processing platform.

[0007] In this type of ore processing equipment, it is relatively common for the processing panel modules to be constructed from molded, wear-resistant elastomers and polymer materials (including but not limited to polyurethane, polyamide, ultra-high molecular weight polyethylene, and rubber materials). These materials are typically designed to have sufficient elasticity to minimize the possibility of orifice blockage, especially in the screen openings of vibrating screens. In some cases, a combination of these materials may be used. The molded material may be molded onto a suitable metal (such as steel or steel alloy) subframe. It is also relatively common for these screening panel modules to have a square or rectangular planar configuration, with typical dimensions of 1ft × 1ft (0.3m × 0.3m) or 1ft × 2ft (0.3m × 0.6m).

[0008] The upward-facing processing surface of the processing platform may be generally flat, or may include sieve holes and locally upward-oriented protrusions, such as rods or individual protruding elements in various configurations separated by valleys or gullies.

[0009] Of course, the molding material of these processing panel modules will primarily experience varying degrees of wear during operation. However, some processing panel modules may have processing surfaces that expose areas of "other material," or such areas may be exposed during operation, and these other material areas will also experience varying degrees of wear during operation. These other materials may include ceramic or metal inserts, or the metal support frame components that actually support the molding material may be exposed. The wear that does occur tends to occur at varying degrees on individual panel modules and on processing platforms consisting of arrays of these panel modules. Currently, the degree of wear is determined by visual observation by operators. There have been many attempts to assist wear assessment through visual observation or other means, including, for example, providing inserts (such as molding materials of different colors) at different depths from the upward-facing processing surface, providing transmissible sensors at different depth levels, and providing holes or other inclusions of varying shapes or sizes at a designed distance from the upper surface to indicate that the wear has reached the stage where the processing panel module should be replaced.

[0010] One challenge of the processing equipment of the types discussed above is that they often involve stacked processing platforms, meaning one platform is generally positioned above another with very limited physical space between them. Furthermore, the structure of such equipment often results in structural machine components that restrict the available space above even the topmost platform. Poor ambient lighting and the tightly packed nature of the stacked platforms further negatively impact visibility of the screening platform. These factors may force workers to climb into the limited spaces between the processing platforms or onto the limited space above the top platform to assess wear and tear on the processing panel modules and other issues, including further damage around the processing platform and potential damage to the platform directly above. These problems are exacerbated if refurbishment work, such as replacing one or more processing panel modules, is required, as this is currently essentially a manual task performed with manually operated tools. Access to the spaces between platforms, to obtain materials or tools between platforms, or to reach external work areas also presents hazards. Access to these confined spaces is both difficult and dangerous. If the processing panel module must be replaced, the problem increases because manual replacement is a labor-intensive manual task that must be performed using hand tools, which increases the level of danger and the workload of workers who must work in this confined area.

[0011] Therefore, any ability to mechanize some or all of the steps required to refurbish the processing platform (including the screen plate) by avoiding the need for workers to enter the processing equipment is an important step forward.

[0012] Therefore, the object of this disclosure is to provide a robotic device capable of removing worn or damaged processing panel modules from a processing platform in an ore processing facility without requiring personnel to enter the space inside the ore processing facility. A particularly preferred aspect of this disclosure is to provide a robotic device capable of removing worn or damaged processing panel modules and replacing them by replacing the processing panel modules, without requiring personnel to enter the space inside the ore processing facility.

[0013] A preferred objective could be to integrate such robotic equipment with a scanning device that can provide automated wear assessment of the processing platform without requiring personnel to enter the ore processing equipment, particularly where such equipment lacks a defined space. While this is certainly preferred, the robotic equipment disclosed herein still offers significant advantages after manual observation or by any other means of observing wear or other damage associated with the processing platform. Summary of the Invention

[0014] According to one aspect of this disclosure, a robotic device is configured to remove processing panel modules from a processing platform of an ore or quarry material processing facility. The processing platform includes a plurality of processing panel modules fixed to a lower platform support structure and positioned in a side-by-side array. The robotic device includes: a robot support structure; a transport device for moving the robot support structure on or above the processing panel modules of the processing platform in use; a drive device for actuating the transport device; and a processing panel module loading / unloading mechanism, including a tool mounting device adapted to mount in use a tool device that can cooperate with the processing panel module intended for removal from the processing platform to release the processing panel module from the lower platform support structure. The processing panel module loading / unloading mechanism further includes a lifting device operable when the released processing panel module has been engaged by the tool device, operable to lift the engaged processing panel module from the processing platform. Preferably, the tool device may additionally cooperate with a fixing device that holds the processing panel module intended for removal to the lower platform support structure to release the fixing device from the lower platform support structure.

[0015] Preferably, the transport device is steerable, thereby allowing the handling panel module loading and unloading mechanism to be positioned relative to the handling panel module intended for removal from the handling platform. Conveniently, the transport device is steerable over a predetermined path of movement, or alternatively, over a path of movement selected by the operator.

[0016] In a preferred embodiment, the robot device may include a first guide rail device and a second guide rail device, each of which can be fixed to the processing device on opposite sides of the processing platform during use, thereby extending the robot support structure across and above the processing platform, and the corresponding transport device can move along the first guide rail device and the second guide rail device.

[0017] In yet another preferred embodiment, the tool mounting device can be attached to the robot support structure for movement relative to the robot support structure along at least one movement path. The at least one movement path can have two orthogonal movement directions.

[0018] In another possible preferred embodiment, the robot support structure or tool mounting device may have at least one removal tool adapted to release, during use, the fixing device holding the processing panel module from the lower platform support structure of the processing platform. Preferably, the fixing device includes one or more fixing elements, and the removal tool is capable of removing the fixing element or each fixing element.

[0019] In an alternative preferred embodiment, the handling panel module loading and unloading mechanism may include an extension arm structure connected to a robot support structure at its inner end and to a tool mounting device at its outer end. Conveniently, the length of the extension arm structure may be extendable or retractable. Preferably, a first pivot joint structure connects the inner end of the extension arm structure to the robot support structure for selective movement about one or more pivot axes. For example, the first pivot joint structure is capable of selective pivoting relative to the robot support structure at least about a first, upright pivot axis of the extension arm structure. Furthermore, the first pivot joint structure allows the extension arm structure to selectively pivot relative to the robot support structure at least about a second pivot axis transverse to the extension arm structure.

[0020] Preferably, the first pivot joint structure can be connected to the robot support structure in a manner that allows the first pivot joint structure to be selectively raised or lowered relative to the support structure. In another possible configuration, a second pivot joint structure is disposed between the outer end of the extension arm structure and the tool mounting device. The second pivot joint structure allows the tool mounting device to selectively pivot about a third pivot axis extending in the general direction of the extension arm structure. Furthermore, the second pivot joint structure provides selective pivoting movement of the tool mounting device about a fourth pivot axis that is generally transverse to the extension arm structure.

[0021] In yet another possible preferred embodiment, the extension arm structure includes at least two articulated arm members connected by a third pivot joint structure that allows the articulated arm members to selectively move relative to each other about a fifth pivot axis generally transverse to the arrangement of the extension arm structure. Conveniently, at least one of the articulated arm members is configured to selectively extend or retract. In a possible alternative arrangement, three articulated arm members are provided, wherein adjacent pairs of arm members are connected by the third pivot joint structure. Furthermore, the inner end of the extension arm structure can selectively translate relative to the robot support structure along a defined path while remaining connected to the robot support structure.

[0022] In another preferred embodiment, the tool mounting device or tool assembly is mounted to be selectively movable in a direction toward and / or away from the robot support structure. In one form, the tool assembly is capable of releasing a removed processing panel module held by the tool assembly into a storage area within the robotic device. The storage area can also be configured in use to hold a replacement processing panel module.

[0023] In yet another preferred embodiment, when individual fixing elements are used to secure the processing panel module to the lower support structure, the replacement fixing element supply device is configured to be carried by the robot support structure or by the tool mounting device, which carries multiple replacement fixing elements. The robot device may also include at least one mounting tool adapted for installing replacement fixing elements in use to secure the replacement processing panel module to the lower platform support structure; this mounting tool, or each mounting tool, is mounted to or can be mounted to the tool mounting device. The mounting tool, or each mounting tool, can be mounted to the tool mounting device by removing the removal tool, or each removal tool, and installing the mounting tool instead of the removal tool. In another possible configuration, the mounting tool and removal tool can be mounted to the tool mounting device in pairs, allowing a corresponding one of each pair of mounting and removal tools to be selectively moved to an operating position.

[0024] In yet another preferred embodiment, the processing panel module loading and unloading mechanism can also be configured to engage and hold a replacement processing panel module located in the storage area of ​​the robot support structure. The replacement processing panel module held by the processing panel module loading and unloading mechanism can be moved by the robot equipment to an installation position in the processing platform.

[0025] Preferably, the robotic device may include a first scanning device carried by the robotic device and positioned in use as a scanning processing platform to create scan information data indicating the degree of wear on the corresponding processing platform and / or fastening device (if provided). The first scanning device may be carried on a processing panel module loading / unloading mechanism or a robot support structure. The first scanning device may be a tool device that can be mounted to a tool mounting device. The robotic device, with or without the first scanning device as described above, may include a second scanning device positioned in use as a scanning processing platform to create further scan information data indicating at least one or more of the following: position information data regarding one or more processing panel modules; position information data for mounting locations of fastening devices intended to secure the processing panel modules to the lower platform support structure; and position information data for fastening devices (if provided) to secure the processing panel modules to the lower platform support structure.

[0026] The robotic device may also include a first control unit, which is positioned externally to the processing platform on which the robotic device is intended to operate. This first control unit is adapted to receive scan information data and provide control signals to a second control unit positioned on the robotic device, thereby controlling the operation of the robotic device on the processing platform based on the scan information data. Conveniently, communication between the first control unit and the robotic device located on the processing platform during use is wireless communication.

[0027] Preferably, the robotic device further includes a power unit that provides power to drive at least one transport device. The power unit may be a rechargeable battery device carried on the robotic device. Alternatively, the power unit may include an external power source connected to the robotic device via an umbilical power cable. A power unit from any source can provide the necessary power to any operating components used by the robotic device.

[0028] It is anticipated that in some preferred arrangements, the robotic device will include cleaning fluid (e.g., water) nozzles, which may be oriented at the processing platform, or, where possible, below an area of ​​the processing platform, to enable the removal of debris or other materials from the processing panel module, fastening devices, or other areas of the processing platform, including the lower support area. The cleaning fluid (e.g., water) can be supplied to these cleaning fluid nozzles via an umbilical hose connection.

[0029] The various preferred embodiments outlined in the preceding paragraphs enable the partial or complete renovation of all aspects of the processing (including screening) platform of ore or quarry material processing equipment, without requiring or minimizing the need for personnel to enter the interior areas of the processing equipment. Attached Figure Description

[0030] Figure 1 The vibration treatment equipment in a typical configuration is shown in three dimensions, including robotic equipment for removing the treatment platform from the vibration treatment equipment and replacing the treatment panel module;

[0031] Figure 2 yes Figure 1 A schematic 3D diagram of the robot equipment shown.

[0032] Figure 3 yes Figure 2 A 3D diagram of a robotic device, in which the transport device is supported on opposing guide rails;

[0033] Figure 4 This is a 3D diagram illustrating the robot equipment, showing its operation in various applications. Figure 1 In the external parking location shown;

[0034] Figure 5 The robotic equipment is shown in three dimensions in its position on the processing platform.

[0035] Figure 6 yes Figure 1 A partial longitudinal cross-sectional view of the ore processing equipment, showing robotic equipment on the lower processing platform; and

[0036] Figure 7 This is a perspective view illustrating another preferred embodiment of the robotic device according to the present disclosure. Detailed Implementation

[0037] refer to Figure 1 A typical ore processing apparatus 10 is shown, comprising two stacked processing platforms 14 and 15. The upper processing platform 15 is positioned directly above the lower processing platform 14. Each of the processing platforms 14 and 15 is constructed in a similar manner, consisting of a plurality of processing panel modules 13 positioned side-by-side and secured to a lower support structure by fixing pins 24. The lower support structure includes laterally spaced support rails 25 extending longitudinally along the processing platforms 14 and 15. The support rails 25 are supported by a support beam 70. Figure 5 , Figure 6These support beams are fixed to and extend between sidewalls 71, which are positioned on either side of the ore processing apparatus 10. The ore processing apparatus 10 can typically be of the vibratory type, having operating vibrations generated by a vibration generating mechanism 73 to impose the desired vibration state on the processing platforms 14, 15 during use. Other forms of vibration generating mechanisms may also be employed. The support beams 70 are shown in a square tubular profile, but other configurations are also possible. The support beams 70 also provide rigidity and strength to the construction of the ore processing apparatus 10. A connecting beam 74 is also shown attached to the sidewalls 71 and extends between them at a location above the upper processing platform 15. The processing panel module 13 can typically have flow orifices extending from its upper surface to its lower surface, which together form upward-facing processing surfaces 31, 32. Particularly in different processing platforms, these orifices can have variable sizes and possibly varied shapes to screen granular ore material of predetermined sizes into a lower region. The lower region may be a lower processing platform. Some processing devices 10 may have a processing platform, wherein the processing panel module 13 is of the impact type and does not include these through-extending sieve holes.

[0038] As in Figure 1 and Figure 6 As can be seen, the space 75 between the upward-facing processing surface 31 of the lower processing platform 14 and the lowest end of the upper processing platform 15 is very limited. The space 76 between the upward-facing processing surface 32 of the upper processing platform 15 and potential obstacles above the platform 15 (such as the connecting beam 74 and the vibration generating mechanism 73) is also very limited. As further described below, the robotic device 11 must operate within spaces 75 and 76.

[0039] Although Figure 1 An example of a vibrating ore handling apparatus 10 capable of using robotic equipment 11 is shown, but those skilled in the art will recognize that many different forms of such vibrating ore and quarry material handling apparatus 10 exist where robotic equipment 11 can be used. Some variations include that the handling platforms 14, 15 may be arranged generally horizontally, or tilted upwards or downwards, and the number may also vary, including one, two, or three platforms, or possibly more. Therefore, this representation of one form of ore handling apparatus 10 should be considered illustrative rather than limiting.

[0040] The ore or quarry material to be processed by the vibrating ore processing equipment 10 is typically fed to the feed end 34 of the upper processing platform 15 and moves along the upper processing platform toward the opposite end 35. During the movement, ore particles of a certain size are screened by the upper processing platform 15 to be deposited on the lower processing platform 14, where a secondary screening process can be performed.

[0041] like Figure 1 As shown, the robotic device 11 is positioned in a non-use location on a support plate 12 or similar object adjacent to the discharge area of ​​the ore processing equipment 10, where a chute access port may be located. Conveniently, the robotic device 11 can be introduced onto the upward-facing surface 32 of the upper processing platform 15 via a transfer device positioned between the support plate 12 and the corresponding processing platforms 14, 15, or alternatively via a driveable transport device at a location where the robotic device 11 can be selectively moved directly onto the upward-facing surface 31 or 32. An external positioning control device 36 may be located in a stationary position outside the vibrating ore processing equipment 10 and can transmit command instructions to the robotic device 11 via a wireless device or via an umbilical command line directly connected to the robotic device 11. The operator 37 may also have a mobile control device 38 that can transmit command instructions to the robotic device 11 directly or via the stationary control device 36. Again, the transmission connection may occur via a wireless device or via an umbilical line device. A storage device 39 is configured for new / used processing panel modules 13. The storage device 39 may also include a feeding device for feeding and delivering the processing panel module 13 to the storage area of ​​the support frame 17 of the robotic device 11.

[0042] Robot equipment 11 in Figure 2The robot support structure 17, which is best seen and can include a support frame carried by a driveable transport device 18, 19 located at either end, is also contemplated. It is also anticipated that, in some cases, the transport device may be positioned in the middle of either end. The transport devices 18, 19 need to carry the support frame 17 for the robot device 11, which spans the upward-facing surfaces 31, 32 of the respective processing platforms 14, 15. It will be appreciated that the surfaces 31, 32 of the processing platforms 14, 15 may be highly non-uniform due to a number of factors, including sieve holes (where present), protrusions that may remain on the surface, and, of course, wear and tear after a period of use. Therefore, the transport devices 18, 19 need to address this potentially non-uniform surface condition and may be arranged with any number of wheels 20 (including, as shown, two wheels at either end), a circular transport track, or any other possible transport system for carrying the support frame 17 on the surfaces 31, 32. Suitable drive mechanisms (not shown) are provided to drive transport devices 18 and 19 upon command instructions from operator 37 via control device 36 and / or motion control device 38. It is also desirable that the robotic device 11 be steerable, enabling it to be guided to follow a path on surface 31 or 32 desired by operator 37 or to follow a predetermined movement route. For this purpose, steering mechanisms (not shown) may be provided and operatively associated with transport devices 18 and 19. Preferably, transport devices 18 or 19 may be driven independently of each other in a forward or backward direction, or both together in a forward or backward direction.

[0043] The support frame 17 includes a storage area 40, on which a new replacement processing panel module 13 is loaded in a predetermined array at the start of a work cycle. Figure 2 This processing panel module 13 is shown as a single layer; however, it is possible for the processing panel module 13 to be arranged in multiple stacked layers, but the overall height of the robot device 11, including any such carrying processing panel module 13, needs to be low enough to operate within spaces 75, 76. The overall height of the robot device 11 should not exceed 500 mm, and preferably is less than 300 mm.

[0044] The robotic device 11 includes a panel module loading / unloading mechanism 41, which is connected to a support frame 17 for movement along guide rails 42, 43 on opposite sides of the storage area 40. A drive unit (not shown) is provided to selectively move the panel module loading / unloading mechanism 41 along the guide rails 42, 43 in the directions indicated by arrow 44 (backward and forward) by activation of command signals issued by an operator 37 via a control device 36 and / or a movement control device 38.

[0045] The processing panel module loading / unloading mechanism 41 includes a storage box device 46 arranged to store new and used securing devices for securing the processing panel module 13 to the lower support frame track 25. The securing device can be a retaining pin or any other type of securing element previously discussed in this specification. The box device 46 can be configured to feed new securing devices to the position of use when installing a replacement processing panel module 13 upon receiving a command instruction from the operator 37, and to hold and move used securing devices removed from worn processing panel modules 13 and stored in the storage area. Individual units of the storage box device 46 can be located on either side of the processing panel module loading / unloading mechanism 41. Associated with the storage box device 46 or each storage box device is a securing device insertion or removal tool 47. Insertion / removal tool 47 can be mounted to a portion 48 of the side edge 48 of the processing panel module loading / unloading mechanism 41 extending beyond the support frame 17 to allow insertion / removal tool 47 to approach the fixed device insertion position on the processing platform 14 or 15, or to approach the mounted fixed device on the platform 14 or 15 to allow its selective removal.

[0046] The processing panel module loading / unloading mechanism 41 is mounted for sliding or other translational movement relative to the support frame 17 and also includes a tool mounting device 49 extending beyond the side edges of the support frame 17. The tool mounting device may include a body portion 50 movable along guide rails 42, 43, or alternatively, a slide plate 54 capable of selectively moving in the direction of arrow 45. The tool mounting device 49 may include various tool devices, as shown, including a gripper support plate 51 or similar structure mounted from the slide plate 54 or body portion 50, which includes gripper element devices for attaching / releasing the processing panel module 13 during the installation or removal process. The gripper element devices may be suction gripping elements, physical or mechanical gripping and release elements, or any other suitable fully or partially electrically operated devices. The gripper support plate 51 is selectively mounted movably relative to the body portion 50 or slide plate 54 via a lifting device (not shown) for movement at least in the upward or downward direction. The gripper support plate 51 is preferably also mounted to allow for at least limited selective movement relative to the platform 14 or 15 in the left-right, forward-backward, rotational, and tilting directions. This facilitates the removal and installation of the processing panel module 13 from the processing platforms 14 and 15. Furthermore, during the installation or removal process on the platform 14 or 15, the processing panel module 13 needs to be moved entirely from or into the storage area 40 on the support frame 17. This means that the gripper support plate 51 needs to be movably mounted to move in the direction of arrow 45 by moving the gripper support plate 51 relative to the slide plate 54 or by moving the tool mounting device 49 relative to the body portion 50.

[0047] The tool mounting device 49 may also carry a scanning device 52, which may include a camera device or any other suitable scanner device that allows observation of the processing panel modules 13 mounted on the processing platform 14 or 15 and any fixing elements for these processing panel modules 13. Any established image or scanned data material is preferably transmitted wirelessly to the control device 36 and / or the motion control device 38. In a possible alternative, but less preferred, embodiment, one or more umbilical cords may be provided to transmit image or scanned material data to the control device 36 and / or the motion control device 38.

[0048] The scanning device 52 is also capable of observing the installation process during the installation of the replacement processing panel module 13. In a possible alternative preferred arrangement, the scanning device 52 may also include means for scanning the degree of wear on the processing platform 14 or 15. The cleaning fluid delivery device 53 may be configured to spray a cleaning fluid (such as water) onto the processing platform 14 or 15 to remove as much debris as possible before the removal or installation process, or alternatively to assist in the installation of the replacement processing panel module 13 by clearing residual debris, including from the lower frame of the module support rail 25. The cleaning fluid delivery device 53 may include one or more controllable nozzles (not shown) to selectively guide the cleaning fluid through the operator 37 via the control device 36 and / or control equipment 38 to a desired location. The cleaning fluid (such as water) may be supplied to the delivery device 53 via a suitable flexible hose or the like.

[0049] In a preferred embodiment, the robotic device 11 may have a length as shown in the figure, which is approximately the same as but only shorter than the lateral width dimension of each of the processing platforms 14, 15, allowing the robotic device 11 to move up or down along the length of the platforms 14, 15 on the transport devices 18, 19. This allows the processing panel module loading / unloading mechanism 41 to selectively move laterally on the processing platform 14 or 15. However, this is not critical. The length of the support frame 17 of the robotic device 11 may be shorter than shown in the figures. With this preferred embodiment, the transport devices 18, 19 can be selectively operated to effectively rotate the support frame 17 on a particular processing platform 14 or 15, such that the support frame 17 is arranged to extend in the longitudinal direction of the platform 14 or 15, that is, at 90° relative to the embodiment shown in the figures. In this configuration, the support frame 17 is capable of lateral movement on the platform 14 or 15. This allows for better access to the processing panel module positioned adjacent to the sidewall 71 of the ore processing equipment 10.

[0050] Figure 3 It shows something similar to Figure 2 Another preferred embodiment of the illustrated implementation, wherein the same reference numerals indicate similarities to those in the preceding reference. Figure 2The characteristics described are as follows. The difference from this embodiment is that the transport devices 18, 19 are not intended to contact the upward-facing surfaces 31, 32 of the processing platforms 14, 15. In this embodiment, the transport devices 18, 19 are positioned for translational movement along guide rails 100, 101 positioned on either side of the processing platforms 14, 15. The guide rails 100, 101 may be mounted to an inward-facing surface or structure of the sidewall 71, or to any other structural component of the processing device 10, whereby the support frame 17 extends laterally across and above the upward-facing surfaces 31, 32. As the robotic device 11 moves along the guide rails 100, 101, the guide rails 100, 101 may be configured to maintain a constant distance or spacing from the surfaces 31, 32. The guide rails 100, 101 may have an L- or C-shaped (channel) cross-section, or may have other configurations suitable for the nature of the transport devices 18, 19. In a preferred embodiment, the rails 100, 101 and / or the cooperating transport devices 18, 19 may be configured to restrict the vertical (i.e., upward and downward) movement of the robotic device 11. The transport devices 18, 19 may include one or more wheels, tracks, or rack and pinion mechanisms, or any combination thereof. The advantage of preventing the robotic device 11 from directly contacting the processing platform or the like is the avoidance of movement on uneven wear surfaces, thereby providing a better assessment of wear degradation of the processing platform, and thus a more accurate assessment of the position of the components of the processing platform, including panel modules and fasteners.

[0051] for Figure 3 The preferred embodiments shown are like Figure 2 Similarly, as may be desired, the handling panel module loading and unloading mechanism can be selectively positioned sequentially above a selected panel module 13, or sequentially positioned on all panel modules.

[0052] Figure 7 The diagram illustrates in three dimensions the method used to perform similar tasks. Figures 1 to 5 The robot device 11 shown represents a second preferred embodiment of the robot device 60 performing the task. This embodiment can operate on or above the processing platforms 14, 15, as previously referenced. Figure 3 Described. In this embodiment, the same features are given the same reference numerals. As in the previously described embodiments, the robot device 60 includes a robot support structure having a support frame 17 supported by driveable transport devices 18, 19. Any variations described with reference to the previous embodiments may also be used, if appropriate. Figure 6 The illustrated implementation methods are used together. Figure 6In the robot support structure, storage areas 40a and 40b are located at the outer ends to hold replacement processing panel modules 13 or worn processing panel modules 13 removed from the processing platform. As shown, the processing panel modules 13 can be stacked in the storage areas 40a and 40b. The central region 61 of the robot support structure is formed in a U-shape, wherein the bare walls 62 of the U-shape are arranged vertically and support guide rails 63 and 64. The robot arm mounting plate 65 is configured to be mounted via a first pivot joint structure 67 located at the inner end of the robot extension arm structure 66.

[0053] In the preferred embodiment shown, the robot arm extension structure 66 has three arm members 68, 69, and 80, wherein adjacent pairs are connected by corresponding third pivot joint structures 81a and 81b. At the outer end of the robot arm extension structure 66 is a tool mounting device 82, which can be selectively connected to various tool devices 84 carried by the robot support structure, as further described below. A second pivot joint structure 83 is pivotally connected between the outer end of the robot arm extension structure 66 and the tool mounting device 82. The first pivot joint structure 67, the second pivot joint structure 83, and the third pivot joint structures 81a and 81b can have multiple degrees of selectable pivoting movement, which is guided at least in part by scan data information related to the status of the scanning processing platform under the control of a computer-based control system. The first pivot joint structure 67 can provide pivoting movement about a first axis perpendicular to the robot arm mounting plate 65, about a second horizontal axis generally perpendicular to the first axis, and about an upright axis perpendicular to the second axis. Similarly, the second pivot joint structure 83 can be configured to have two or three pivot axes arranged generally perpendicular to each other. The third pivot joint structures 81a, 81b can have one or more pivot axes. Conveniently, any form of mechanism is provided to allow selective movement of the respective first pivot joint structure 67, second pivot joint structure 83, or third pivot joint structures 81a, 81b, wherein the control line device 85 enables the provision of control signals and power to various tooling devices 84 as needed. Power can be supplied from an external power source with an umbilical supply line (not shown), wherein a control device (also not shown) is also provided for controlling the robot extension arm structure 66.

[0054] The tooling device 84 includes a scanning unit 86 stored on the robot support structure, which can be connected to the tool mounting device 82 via a mounting accessory 87 when needed. The robot extension arm structure 66 can then move the scanning unit 86 to a desired position to scan any desired aspect of the processing platform (including the processing panel module 13 and its fastening devices). The scanning unit 86 can be moved above the processing platform by the movement of the robot device 60 on the transport devices 18, 19 or by the movement of the robot extension arm structure 66. The tooling device 84 may also include a gripper mechanism 88, which includes releasable gripper elements to hold the worn processing panel module 13, lift it away from its position of use in the processing platform, and move it to storage areas 40a / 40b. The gripper mechanism 88 can be connected to the mounting accessory 87 by moving the robot extension arm structure to its storage position on the robot support structure. The replacement processing panel module 13 can be picked up from storage areas 40a, 40b and positioned in the processing platform by the gripper mechanism 88.

[0055] The tool assembly 84 may also include various other items, including a fixture removal tool assembly, a fixture mounting assembly, a cleaning fluid (water) supply nozzle assembly, and a device for supplying the cleaning fluid thereto. A storage device 89 for replacing fixtures and for storing removed used fixtures may also be mounted on the robot support structure. (See reference) Figures 1 to 6 Any features or aspects described in the illustrated embodiments may also be found in Figure 7 This is adopted in the implementation method.

[0056] It will be understood that, when used in this specification, any terms such as “comprises,” “comprising,” “includes,” and / or “including” specify the presence of stated features, articles, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, articles, steps, operations, elements, components, and / or combinations thereof. Throughout this specification, reference is made to the processing platform and its components, including the processing panel module and fasteners, thus releasably securing the panel module to the underlying support structure. Such processing platforms are frequently found in vibrating screening devices for mineral processing and handling in mining and quarrying activities; however, the term “one or more processing platforms” is intended to also refer to any apparatus or equipment used in comparable applications.

[0057] Those skilled in the art will further understand that many variations and modifications can be made to the features, configuration, and arrangement of the mobile robot device 11 or 60 disclosed herein within the scope of the appended claims, and such variations and modifications are considered part of this disclosure.

Claims

1. A robotic apparatus for removing a processing panel module from a processing platform of an ore or quarry material processing plant, wherein, The processing platform comprises a plurality of said processing panel modules fixed to an underlying platform support structure and positioned in a side-by-side array, the robotic apparatus comprising: a robot support structure; a transport device for moving the robot support structure, in use, on or over the processing panel modules of the processing platform; drive means for actuating the transport device; and a processing panel module handling mechanism comprising a tool mounting device adapted, in use, to mount a tool device co-operable with the processing panel module intended to be removed from the processing platform to enable release of the processing panel module from the underlying platform support structure, the processing panel module handling mechanism further comprising a lifting device operable when the released processing panel module has been engaged by the tool device to lift the engaged processing panel module from the processing platform.

2. The robotic device of claim 1, wherein, The tool device comprises releasable gripping means to grip the processing panel module to be removed from the processing platform.

3. The robotic apparatus according to claim wherein, the tool mounting device is connected to the robot support structure for movement relative thereto along at least one movement path, or the tool mounting device is connected to the robot support structure for movement relative thereto along at least one movement path, the at least one movement path having two orthogonal movement directions.

4. The robotic apparatus according to claim 1, the robotic apparatus further comprising first and second guide rail means, each of the first and second guide rail means being, in use, fixable to the processing apparatus on opposite sides of the processing platform whereby the robot support structure extends across and over the processing platform, the respective transport device being movable along the first and second guide rail means.

5. The robotic device of claim 1, wherein, The tool device comprises a removal tool co-operable in addition with securing means holding the processing panel module intended to be removed to the underlying platform support structure to release the securing means from the underlying platform support structure.

6. The robotic device of claim 1, wherein, The processing panel module handling mechanism comprises an extension arm structure connected at an inboard end of the extension arm structure to the robot support structure and at an outboard end of the extension arm structure to the tool mounting device.

7. The robotic device of claim 6, wherein, A first pivot joint structure connects the inboard end of the extension arm structure to the robot support structure for selective movement about one or more pivot axes.

8. The robotic device of claim 7, wherein, The first pivot joint structure is connected to the robot support structure in a manner enabling selective raising or lowering of the first pivot joint structure relative to the robot support structure.

9. The robotic device of claim 7, wherein, A second pivot joint structure is provided between the outboard end of the extension arm structure and the tool mounting device.

10. The robotic device of claim 9, wherein, The second pivot joint structure enables selective pivotal movement of the tool mounting device about a third pivot axis extending in the general direction of the extension arm structure.

11. The robotic device of claim 7, wherein, The extension arm structure comprises at least two articulated arm members connected by a third pivotal joint structure, the third pivotal joint structure enabling relative selective movement of the articulated arm members about a fifth pivotal axis arranged generally transversely to the extension arm structure.

12. The robotic device of claim 1, wherein, The tool mounting device or the tool device is mounted for selective movement in a direction towards the robot support structure and / or in a direction away from the robot support structure, the tool device being able to release a removed processing panel module held by the tool device into a storage area in the robot apparatus.

13. The robotic device of claim 12, wherein, The storage area is further configured to hold at least one replacement processing panel module in use.

14. The robotic device of claim 5, wherein, A replacement securing element supply device is provided carried by the robot support structure or by the tool mounting device, the replacement securing element supply device carrying a plurality of replacement securing elements forming the securing device, the robot apparatus further comprising at least one installation tool adapted in use to install a replacement securing element to secure a replacement processing panel module to the underlying platform support structure, each of the installation tools being mountable to the tool mounting device.

15. The robotic device of claim 14, wherein, Each of the installation tools is mountable to the tool mounting device by removing each of the extraction tools and installing the installation tools in place of the extraction tools.

16. The robotic device of claim 14, wherein, The installation tools and the extraction tools are mounted to the tool mounting device in pairs such that respective ones of each pair of the installation tools and the extraction tools are selectively movable into an operative position.

17. The robotic device of claim 1, wherein, The processing panel module handling mechanism is further configured to clamp and hold a replacement processing panel module located in a storage area of the robot support structure, the replacement processing panel module clamped by the processing panel module handling mechanism being movable by the robot apparatus to an installation position in the processing platform.

18. The robot apparatus of claim 1, further comprising a first scanning device carried by the robot apparatus and positioned in use to scan the processing platform and create scanning information data, the scanning information data being indicative of a degree of wear of the respective processing platform and / or of a degree of wear of a securing device in the event that the processing panel module is provided with the securing device.

19. The robot apparatus of claim 18, further comprising a second scanning device carried by the robot apparatus and positioned in use to scan the processing platform to create further scanning information data, the further scanning information data being indicative of at least one or more of: position information data relating to one or more of the processing panel modules; position information data for an installation position of a securing device intended to secure the processing panel module to the underlying platform support structure; and position information data of the securing device in the event that the processing panel module is provided with the securing device.

20. The robotic device of claim 18, further comprising a first control means, which in use is positionable outside of the processing platform, the robotic device being intended to operate on the processing platform, the first control means being adapted to receive the scan information data and to provide control signals to a second control means positioned on the robotic device, thereby controlling operation of the robotic device on the processing platform based on the scan information data.

Images