System and method for removing uncrushable materials in crushers

Abstract

The present invention relates to a system for removing non-crushable materials from crushers (10), which allows such materials to be broken and removed efficiently and safely from inside crushers (10), preventing damage to the equipment and avoiding accidents. The system for removing non-crushable materials from crushers (10) of the present invention comprises a base (1) for fastening to the crusher (10), at least one robotic arm, a breaking mechanism (6) that can be associated with the robotic arm in order to break the non-crushable material, a handling mechanism (7) that can be associated with the robotic arm in order to handle the non-crushable material, and a control system for controlling the components of the system for removing non-crushable materials. In addition, the present invention also relates to a method for removing non-crushable materials that makes use of the system described above, comprising the steps of: i. installing the system for removing non-crushable materials in the feed opening of the crusher (10); ii) breaking the non-crushable material inside the crusher (10) by means of the breaking mechanism (6) associated with the robotic arm; iii. removing the non-crushable material from inside the crusher (10) by means of the handling mechanism (7) associated with the robotic arm; and iv. removing the system for removing non-crushable materials from the crusher (10).

Description

[0001] "SYSTEM AND METHOD FOR REMOVING NON-CRUSHABLE MATERIALS IN CRUSHERS"

[0002] Field of Invention

[0003]

[0001] The present invention relates to a system for removing non-crushable materials in crushers, more specifically in jaw crushers used in the mining industry, enabling the safe and practical cutting and removal of non-crushable material. The present invention also relates to a method for removing said non-crushable materials.

[0004] Background of the Invention

[0005]

[0002] Jaw crushers have been widely used in the mineral processing sector and the mining industry. Such equipment, recognized for its robustness and efficiency, is specifically designed to break rocks and minerals through a compression action.

[0006]

[0003] The mechanics of a jaw crusher are relatively simple, comprising at its core two plates called jaws, one fixed and the other movable, positioned in parallel. During operation, the movable jaw oscillates in a pendulum motion towards the fixed jaw, so that the material fed between the two jaws is subjected to intense compressive forces, leading to its fragmentation into smaller pieces. The particle size or size of the resulting material is determined, in part, by the spacing between the two jaws at the discharge point, also known as the discharge opening.

[0004] Jaw crushers are essentially applied in the primary crushing phase, playing a crucial role in the initial reduction of extracted rocks and ores.Through this primary crushing process, materials are transformed from their raw, large-volume form into more manageable sizes, suitable for transport and subsequent processing or specific applications.

[0007]

[0005] However, the efficiency and durability of a jaw crusher can be significantly compromised by the presence of non-crushable materials mixed with the feed material into the equipment. Such non-crushable materials encompass a variety of objects and substances, from metals inadvertently mixed with the ore to exceptionally hard rocks that resist the standard crushing process.

[0008]

[0006] The challenge presented by these uncrushable materials presents different problems to the crusher. The first is related to clogging and reduced efficiency, since this material can get stuck between the jaws, causing blockages and consequently interrupting the operation. The second consists of premature wear generated by the constant presence of hard materials that can accelerate the wear of the jaws, reducing the equipment's lifespan and increasing maintenance costs. The third consists of structural risks, generated in extreme cases where the attempt to crush uncrushable materials can result in structural damage to the crusher, leading to catastrophic failures and substantial costs in repairs or replacement.

[0009]

[0007] In the face of these persistent challenges, there is a clear need for solutions that enable the removal of non-crushable materials, in order to effectively identify, separate and manage these non-crushable materials so that they do not cause damage to the crusher or halt operations.

[0010]

[0008] In the state of the art, some solutions are known to specifically deal with non-crushable materials, such as, for example, the one disclosed in document BR102018077160-4 concerning "ROBOTIC ARM FOR CLEARING GYRATORY CRUSHERS", which comprises a chassis / track to enable its movement, shoes for fixing to the ground, a mechanical arm with telescopic arms and an electronic arm, the mechanical arm being moved by means of hydraulic actuators.

[0011]

[0009] The electronic arm comprises, at its end, an igniter to enable the generation of oxygen lances (oxy-fuel cutting), which are used to cut and break unbreakable material, and also includes cameras and lighting to assist in its movement and positioning.

[0012]

[0010] However, although document BR102018077160-4 presents a robotic arm for unclogging gyratory crushers, it does not include any means or equipment to enable the removal of broken uncrushable material, and it also reveals a movement by means of a conveyor belt that hinders its access to the surface of the crushers.

[0013]

[0011] Another document, still in the state of the art, consists of PI9500572-2 which describes a "CLAMP SYSTEM FOR CLEARING CRUSHERS AND ORE FEEDERS", comprising two articulated clamps with claws at the ends to prevent the clamped object from slipping, the same being mounted and fixed in an articulated assembly whose purpose is to control the opening of the clamps symmetrically.

[0014]

[0012] However, document PI9500572-2 reveals only a crusher unblocking clamp, without revealing any complete system or method for breaking and removing uncrushable materials, nor safety mechanisms to prevent material from being projected out of the crusher during the removal of uncrushable material.

[0015]

[0013] Also in the state of the art, another relevant document is AU2011101231A4 concerning "SYSTEM AND METHOD FOR MONITORING CONDITION OF SURFACE SUBJECT TO WEAR", which describes a system and method for monitoring the wear surface of a crusher, tracking excessive wear in real time. This document includes equipment for breaking up uncrushable material called a rock breaker.

[0016]

[0014] This stone breaker comprises an arm and a hammer fixed to the free end of the arm, so that the arm moves the hammer to make contact with solid objects that you want to break in the crusher opening, preventing it from clogging.

[0015] However, although document AU2011101231A4 focuses on unclogging crushers, it only reveals a means of breaking uncrushable materials, without revealing any type of system or mechanism for removing this material from the crusher.

[0017]

[0016] Finally, another document in the state of the art is CN204136051U concerning a "MULTIFUNCTIONAL MECHANICAL ARM" which describes a multifunctional mechanical arm with applications in mining to prevent clogging of crushers by breaking up materials. The mechanical arm comprises a base, a drive mechanism, a first arm, a second arm, a third arm and a coupling.

[0018]

[0017] The arms are connected by means of pivoting joints and moved by hydraulic cylinders, allowing movement of the coupling located at the free end of the third arm. The coupling is configured to come into contact with the rocks / stones and break them up to prevent clogging of the crusher.

[0019]

[0018] However, like the other prior documents mentioned, document CN204136051U also does not disclose any system or mechanisms for removing broken material to prevent clogging of the crusher, merely disclosing equipment for breaking it down.

[0020]

[0019] It is concluded from the searches and analysis of the state of the art that there is no system for removing non-crushable materials in crushers that allows both the crushing and removal of non-crushable material in a single system in an efficient and safe manner, revealing a quick and practical transport and installation, as well as preventing the projection of material out of the crusher during the removal of non-crushable materials.

[0021] Objectives of the Invention

[0022]

[0020] The present invention aims to provide a system for removing non-crushable materials in crushers that is capable of both breaking up the material and removing it quickly and efficiently, avoiding damage to the crusher.

[0023]

[0021] The present invention also aims to provide a system for removing non-crushable materials in crushers, featuring rapid transport and installation.

[0024]

[0022] The present invention also aims to provide a system for removing non-crushable materials in crushers that includes safety mechanisms to prevent material from being projected out of the crusher during the removal of non-crushable materials.

[0025]

[0023] Finally, the present invention also aims to provide a method for removing non-crushable materials in crushers that exhibits high efficiency, productivity and safety in this activity.

[0026] Brief Description of the Drawings

[0027]

[0024] The present invention is illustrated in detail based on the respective figures:

[0028]

[0025] Figure 1 - shows a perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0029]

[0026] Figure 2 - shows a perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0030]

[0027] Figure 3 - shows a front perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0031]

[0028] Figure 4 - shows a front perspective view of the base of the system for removing non-crushable materials in crushers in its preferred configuration.

[0032]

[0029] Figure 5 - shows a perspective view of the base of the system for removing non-crushable materials in crushers in its preferred configuration.

[0033]

[0030] Figure 6 - shows a perspective view of the base of the system for removing non-crushable materials in crushers in its preferred configuration.

[0031] Figure 7 - shows a top perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0034]

[0032] Figure 8 - shows a perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0035]

[0033] Figure 9 - shows a perspective view of the handling mechanism of the system for removing non-crushable materials in crushers in their preferred configuration.

[0036]

[0034] Figure 10 - shows a perspective view of the crushing mechanism of the system for removing non-crushable materials in crushers in their preferred configuration.

[0037]

[0035] Figure 11 - shows a perspective view of the system for removing non-crushable materials in crushers in its preferred configuration.

[0038]

[0036] Figure 12 - shows a schematic perspective view of the system for removing non-crushable materials in crushers being transported in its preferred configuration.

[0039] Summary of the Invention

[0040]

[0037] The present invention, in its preferred configuration, discloses a system for removing uncrushable materials in crushers comprising: a base comprising a central structure having an upper surface and a lower surface and two lateral structures, each pivotally fixed to a lateral end of the central structure; at least one robotic arm fixed to the lower surface of the central structure of the base; a crushing mechanism associable with the robotic arm and configured to perform the crushing of uncrushable material; a handling mechanism also associable with the robotic arm and configured to perform the handling of uncrushable material; and a control system configured to control the components of the system for removing uncrushable materials.

[0041]

[0038] Each side frame comprises at least two mounting bases arranged one at each distal end of the side frame, each mounting base comprising a magnetic shoe, the magnetic shoe being configured to come into contact with a crusher jaw and to secure the base to the crusher inlet opening. The side frames comprise pivotable guards fixed in the space defined between the mounting bases of the side frame of the base.

[0042]

[0039] The lateral structures of the base comprise a rotational movement relative to the central structure of the base to define a closed position, in which the lateral structures are brought close to the lower surface of the central structure, and an open position, in which the lateral structures are linearly arranged relative to the central structure. The upper surface of the central structure is configured to be associated with a lifting device for lifting the system for removing non-crushable materials in crushers.

[0043]

[0040] Still in its preferred configuration, the system comprises two robotic arms fixed to the lower surface of the central base structure, a first robotic arm with the associated breaking mechanism at its free end and a second robotic arm with the associated handling mechanism at its free end. The breaking mechanism consists of an oxyflame lance with three degrees of freedom. The handling mechanism consists of a hydraulic gripper.

[0044]

[0041] In this preferred configuration, the system comprises a plurality of cameras associated with the control system, while the control system is operated remotely or autonomously.

[0045]

[0042] The present invention, in its preferred configuration, also discloses a method for removing non-crushable materials in crushers, which makes use of the system for removing non-crushable materials as defined above, comprising the following steps: Installing the system for removing non-crushable materials in the crusher feed opening; Breaking the non-crushable material inside the crusher by means of the breaking mechanism associated with the robotic arm; Removing the non-crushable material from inside the crusher by means of the handling mechanism associated with the robotic arm; and Removing the system for removing non-crushable materials from the crusher.

[0046]

[0043] In the first stage, the system for removing non-crushable materials is lifted by means of a lifting machine associated with the upper surface of the central structure of the base and installed at the crusher opening by means of magnetic shoes arranged in fixing bases on its lateral structures of the base associated with crusher jaws.

[0047]

[0044] The first stage of installation may be preceded by a transport stage, in which the system for removing non-crushable materials in crushers is placed in a closed position and inserted inside a trailer that can be attached to a truck, tractor or any motor vehicle.

[0048]

[0045] The second stage is carried out by means of a first robotic arm equipped with the breaking mechanism associated with its free end, while the third stage is carried out by means of a second robotic arm equipped with the manipulation mechanism associated with its free end.

[0049]

[0046] The third stage also involves the use of a basket moved by means of the lifting equipment inserted inside the crusher while the second robotic arm manipulates the uncrushable materials into the basket through the handling mechanism and subsequently the basket is removed from inside the crusher with the uncrushable material.

[0050] Detailed Description of the Invention

[0051]

[0047] Although the present invention can be implemented in different embodiments, the figures and detailed description that follow show its preferred configurations, on the understanding that the present description should be considered for purely illustrative purposes, not limited to what is illustrated or described herein.

[0048] The main approach of the present invention discloses a system for removing uncrushable materials in crushers that makes it possible to break and remove uncrushable materials from crushers in an efficient, fast and safe manner, avoiding damage to the equipment and impairing the productivity of the operation. The present invention also discloses a method for removing uncrushable materials from crushers, which makes it possible to perform this activity in an efficient, productive and safe manner.

[0052]

[0049] In a preferred embodiment, the system for removing non-crushable materials of the present invention comprises a base 1, at least one robotic arm, a crushing mechanism 6, a handling mechanism 7 and a control system, each of the components being described in detail below.

[0053]

[0050] Base 1 of the system for removing uncrushable materials of the present invention consists of the component configured to enable installation next to the crusher 10, as well as to support at least one robotic arm of the system for removing uncrushable materials. In its preferred configuration, base 1 comprises a central structure 2 and two lateral structures 3 arranged in parallel at each lateral end of the central structure 2, as illustrated in Figure 3.

[0054]

[0051] The central structure 2 of base 1, still in its preferred configuration, comprises a rectangular shape with a lower surface 2' for association with at least one robotic arm and an upper surface 2" for association with lifting equipment 14 for moving the system for removing non-crushable materials. Also in this preferred configuration, the association with lifting equipment 14 is carried out by means of a central hole disposed in the upper surface 2" of the central structure 2, so as to perform this association by means of a magnetic device associated with the central hole, for example an electromagnet.

[0055]

[0052] In alternative configurations, the central structure 2 may comprise other constructive configurations besides the rectangular shape, as well as may comprise hooks, eyelets or other means for association with lifting equipment, the only fundamental requirements being the support of at least one robotic arm and the possibility of lifting for moving the system for removing non-crushable materials through its base 1.

[0056]

[0053] The side structures 3, in their preferred configuration, are pivotally fixed in relation to the side faces of the central structure 2 of the base 1, so as to allow a rotary opening and closing movement, as illustrated in Figure 3. This rotary opening and closing movement allows the system for removing non-crushable materials to be arranged in a closed position, with the side structures 3 brought close to the lower surface 2' of the central structure 2, so as to protect the associated robotic arm, as well as in an open position, with the side structures 3 linearly arranged in relation to the central structure 2.

[0057]

[0054] The closed position is typically used for transporting and lifting the system for removing non-crushable materials, in order to protect the robotic arm and occupy less space, while the open position is typically used for installing the system for removing non-crushable materials to crusher 10, as described below.

[0058]

[0055] Still in its preferred configuration, each lateral structure 3 comprises at least two fixing bases 3', arranged one at each distal end of the lateral structure 3, so as to form a defined space between them. In this preferred configuration, each lateral structure 3 also comprises a protective grid 3" arranged in the space defined between the fixing bases 3', as illustrated in Figure 4.

[0059]

[0056] The 3" protective grids, in their preferred configuration, are also fixed in a pivotable manner, allowing for an opening and closing movement in relation to the lateral structure 3 of the base 1, as illustrated in Figure 5. These 3" protective grids and the opening and closing movement are fundamental to prevent the projection of materials outside the crusher 10, as well as to allow access for the removal of material from inside the crusher 10, since, as will be described below, the system for removing non-crushable materials is located in the upper portion of the crusher 10, i.e., in its feed opening.

[0060]

[0057] The fixing bases 3', in their preferred configuration, comprise magnetic pads 9 configured to be fixed to the upper face of the crusher jaws 11, in order to install the system for removing uncrushable materials in the upper portion of the crusher 10, more specifically arranged in its feed opening, as illustrated in Figure 6. The magnetic pads 9, in their preferred configuration, have a high magnetic adhesion power, supporting the weight of the system for removing uncrushable materials in a practical and safe manner next to the crusher 10, as illustrated in Figure 7.

[0061]

[0058] In alternative configurations, the side structures 3 of the base 1 may comprise other components besides the fixing bases 3' with magnetic pads 9, and may even maintain the system for removing non-crushable materials in a suspended manner with lifting equipment, it being necessary only to ensure its stability for movement and manipulation by at least one robotic arm 5 inside the crusher 10.

[0062]

[0059] In this way, base 1 of the system for removing non-crushable materials of the present invention is installed on the upper portion of the crusher 10 by means of the magnetic pads 9 arranged at the ends of the fixing bases 3' of the lateral structure 3 of the base, so that at least one robotic arm is facing inwards towards the crusher 10, enabling access to the material inside and, consequently, to the non-crushable material that is to be removed, as illustrated in Figure 8 and described in detail below.

[0063]

[0060] The system for removing non-crushable materials of the present invention comprises at least one robotic arm and, in its preferred configuration, comprises two robotic arms, a first robotic arm being 5' and a second robotic arm being 5", as illustrated in Figure 8 and described in detail below.

[0061] The first robotic arm 5' and the second robotic arm 5", in their preferred configuration, comprise six degrees of freedom for their movement, enabling them to reach the non-crushable materials that are to be removed from the crusher 10 through this movement. Also in their preferred configuration, the first robotic arm 5' and the second robotic arm 5" may have an electric, hydraulic, pneumatic or any other type of drive capable of enabling their efficient movement in the desired degrees of freedom.

[0064]

[0062] The first robotic arm 5', in its preferred configuration, comprises the breaking mechanism 6 fixed at its free end, the breaking mechanism 6 being configured to be placed in contact with the non-crushable material to perform its cutting and breaking before its removal.

[0065]

[0063] In its preferred configuration, the breaking mechanism 6 consists of an oxyflame lance with three degrees of freedom, configured to cut the uncrushable material for its breaking, as illustrated in Figure 10. The breaking mechanism 6, in this preferred configuration, allows the oxyflame lance to be moved in different degrees of freedom to facilitate access and reach to the uncrushable material that is to be broken.

[0066]

[0064] In alternative configurations, the breaking mechanism 6 may consist of a device other than the oxyflame lance, such as a hydraulic hammer, pneumatic hammer or other device capable of cutting or breaking the unbreakable material, not being limited to an oxyflame lance or oxy-cutting equipment.

[0067]

[0065] The second robotic arm 5", unlike the first robotic arm 5', in its preferred configuration, comprises the handling mechanism 7 fixed at its free end, the handling mechanism 7 being configured to come into contact with the broken or unbroken non-crushable material and perform its manipulation for removal from the crusher 10 or to assist in breaking it.

[0066] In its preferred configuration, the handling mechanism 7 consists of a precision hydraulic gripper, configured to enable the handling of non-crushable material, even if of small dimensions, and remove it from inside the crusher 10 to avoid damage to the equipment. In alternative configurations, the handling mechanism 7 may consist of a hydraulic gripper or any other device capable of handling the non-crushable material that one wishes to remove from inside the crusher 10.

[0068]

[0067] Thus, in its preferred configuration, the system for removing non-crushable materials comprises a first robotic arm 5' equipped with a breaking mechanism 6 to perform the cutting and breaking of the non-crushable material and reduce its dimensions and a second robotic arm 5" equipped with a handling mechanism 7 to perform the removal of this non-crushable material broken by the breaking mechanism 6 as well as assisting in the breaking of this non-crushable material, increasing the efficiency of the removal of non-crushable material with the two robotic arms 5', 5" working simultaneously together.

[0069]

[0068] However, in an alternative configuration, the system for removing non-crushable materials may comprise only a single robotic arm, this robotic arm being simultaneously equipped with a breaking mechanism 6 and a handling mechanism 7 associated with its free end, in order to perform the breaking of the non-crushable material and the handling of this material with a single robotic arm that alternates between the use of the breaking mechanism 6 and the handling mechanism 7.

[0070]

[0069] In yet another alternative configuration, the system for removing non-crushable materials of the present invention may comprise a single robotic arm, wherein the breaking mechanism 6 and the handling mechanism 7 consist of modules that can be coupled and uncoupled from this single robotic arm in a practical and quick manner, such that the robotic arm couples the breaking mechanism 6 to perform the breaking of the non-crushable material and subsequently uncouples the breaking mechanism 6 by coupling the handling mechanism 7 to perform the removal of the non-crushable material.

[0071]

[0070] Thus, having described both the preferred configuration with the first robotic arm 5' and the second robotic arm 5", as well as the alternative configurations with a single robotic arm, it is evident that the present invention is not limited to the simultaneous use of the two robotic arms 5', 5", and can be applied with a single robotic arm comprising simultaneously or interleaving the use of the cutting mechanism 6 and the manipulation mechanism 7.

[0072]

[0071] For the precise manipulation and movement of the robotic arm of the system for removing non-crushable materials of the present invention, in its preferred configuration, it comprises a plurality of cameras installed in its structure to facilitate the visualization and control of the robotic arm to identify and reach the non-crushable material that needs to be removed from the crusher 10. Also in its preferred configuration, it includes special cameras equipped with appropriate filters to enable the visualization of the cut, especially when employing the oxyflame cutting mechanism.

[0073]

[0072] Thus, using the cameras included in the system for removing non-crushable materials, preferably located on the robotic arm, it is possible to identify and facilitate the visualization of the non-crushable material that needs to be removed from crusher 10.

[0074]

[0073] In its preferred configuration, the control system is responsible for all control and movement of the system for removing uncrushable materials, mainly regarding the movement of its robotic arm, which is carried out by means of a remote control system, operated remotely by a worker based on the set of cameras located on the robotic arm or other structures of the system for removing uncrushable materials of the present invention.

[0074] In alternative configurations, all control of the system for removing uncrushable materials of the present invention can be carried out autonomously, such that it comprises a control system associated with cameras that automatically identifies the uncrushable material and performs all manipulation of the robotic arm to cut and remove the uncrushable material autonomously, without the intervention or control of a worker.

[0075]

[0075] Therefore, having described the system for removing non-crushable materials in crushers 10 of the present invention, as well as all its components, the method for removing non-crushable materials in crushers that makes use of said system is described below, detailing the steps necessary for the removal of the material and expanding the understanding of the system described above.

[0076]

[0076] The first step consists of installing the system for removing non-crushable materials in crusher 10, so that it is positioned in an appropriate location to allow its robotic arm to come into contact with the non-crushable material that is to be removed from crusher 10. In its preferred configuration, the installation step of the system for removing non-crushable materials is carried out by means of a lifting device 14 with an electromagnet associated with the base 1 of the system for removing non-crushable materials, more specifically associated with a central hole located on the upper surface 2' of the central structure 2 of base 1, as illustrated in Figure 12.

[0077]

[0077] The first stage of installing the system for removing non-crushable materials may be preceded by a stage of transporting the system for removing non-crushable materials. The transport stage, in its preferred configuration, is carried out by means of a trailer 12 configured to be coupled to a vehicle, be it a truck, tractor or any other motorized vehicle, so that the trailer 12 is transported to the location of the crusher 10 so that the system for removing non-crushable materials can be removed and installed.

[0078] In this transport stage, which may or may not exist depending on whether the system for removing non-crushable materials is located near the crusher 10, the system for removing non-crushable materials is placed inside the trailer 12, being kept in a closed position. In the closed position, as described previously, the side structures 3 of the base 1 are moved in a rotary manner against the lower surface 2" of the central structure 2 of the base 1, so as to be positioned next to the robotic arm, protecting the latter and reducing the space occupied to fit inside the trailer 12, as illustrated in Figure 12.

[0078]

[0079] Thus, in the first stage of installation, the system for removing non-crushable materials is removed from the trailer 12 by means of the lifting equipment 14 and placed on the surface of the crusher 10, positioning it in an open position so that it can be fixed in the crusher's inlet opening. In this open position, as described previously, the side structures 3 of the base 1 are linearly arranged in relation to the central structure 2 of the base, so that their fixing bases 3' with the magnetic pads 9 at their ends are placed in contact with the jaws 11 of the crusher 10, as illustrated in Figure 11.

[0079]

[0080] With the system for removing uncrushable materials installed on the crusher in the first stage, the second stage begins, which consists of breaking the uncrushable material. In its preferred configuration, the first robotic arm 5' is moved to break the uncrushable material by means of the crushing mechanism 6, placing this equipment in direct contact with the uncrushable material to break it and reduce its dimensions.

[0080]

[0081] Also in this second stage, alternatively, the second 5" robotic arm can assist by positioning and manipulating the non-crushable material to facilitate its breaking, so that this manipulation by the second 5" robotic arm is carried out with the aid of the manipulation mechanism 7.

[0081]

[0082] Once the uncrushable material has been broken up by means of the crushing mechanism 6, whether associated with the first robotic arm 5' or a single robotic arm, the third stage begins, which consists of removing the uncrushable material. In its preferred configuration, the second robotic arm 5" is moved to manipulate the broken uncrushable material by means of the handling mechanism 7, making it possible to manipulate and remove the uncrushable material to avoid damage to the crusher 10.

[0082]

[0083] Also at this stage, to assist in the removal of non-crushable materials, it is possible to use a basket 13 inserted inside the crusher 10 so that the second robotic arm 5" inserts the manipulated non-crushable material inside this basket 13 for subsequent removal from the crusher 10. In this preferred configuration, the basket 13 is manipulated by the lifting equipment 14, also associated by means of an electromagnet, allowing the entry and exit of the basket 13 in the crusher 10.

[0083]

[0084] To enable this entry into basket 13 in crusher 10, in its preferred configuration, the system for removing uncrushable materials opens its 3" protective grid on the side structures 3 of base 1, in order to create sufficient space for the entry and exit of basket 13, removing the uncrushable materials handled by the second robotic arm 5". It should be noted that, to ensure process safety, the 3" protective grid should only be opened for the entry and exit of basket 13, and should be kept closed during all other stages.

[0084]

[0085] Once the removal of uncrushable material by means of the second robotic arm 5" and basket 13 is completed, the fourth and final stage of the method for removing uncrushable materials of the present invention begins, which consists of removing the system for removing uncrushable materials from the crusher 10, enabling its installation in other crushers 10.

[0085]

[0086] In this fourth and final stage, the system for removing non-crushable materials is again lifted by means of lifting equipment 14, associating its electromagnet with the central hole located on the upper surface 2" of the central structure 2 of the base, in order to dissociate its magnetic pads 9 from the jaws 11 of the crusher 10. During this lifting, due to gravitational force, the lateral structures 3 of the base 1 of the system for removing non-crushable materials are returned to the closed position, in order to allow its insertion again into the trailer 12, as illustrated in Figure 12.

[0086]

[0087] Thus, the fourth stage is completed with the insertion of the system for removing non-crushable materials into trailer 12, allowing it to be transported and installed in another crusher 10, thereby restarting the first stage of the present method for removing non-crushable materials.

[0087]

[0088] It is worth highlighting that the second and third stages of this method are carried out with the aid of multiple cameras installed in the system for removing non-crushable materials, in order to identify and facilitate the visualization of the movement of the first 5' robotic arm and the second 5' robotic arm. Furthermore, all movement of the first 5' robotic arm and the second 5' robotic arm in stages two and three is performed via a remote control, which can be operated by a worker or be completely autonomous, as described previously.

[0088]

[0089] Finally, the lifting equipment 14 described in steps one, three and four of the method for removing non-crushable materials of the present invention preferably consists of an overhead crane, but may assume other shapes and equipment depending on the location where the crusher 10 is installed, such as cranes and other equipment capable of lifting the system for removing non-crushable materials and the baskets 13 used for removing non-crushable materials.

[0089]

[0090] Having described both the system for removing non-crushable materials in crushers 10 and the method for removing non-crushable materials in crushers 10, it is clear that the present invention offers significant advantages over the prior art and fulfills the proposed objectives.

[0090]

[0091] These advantages consist of increased practicality and speed in removing non-crushable materials in crushers 10, enabling quick transport and installation of the system for removing non-crushable materials by means of a trailer 12 and handling by means of a lifting device 14, as well as fixing the system for removing non-crushable materials by means of magnetic shoes 9 associated with the jaws 11 of the crusher 10, drastically reducing the time for transport and installation.

[0091]

[0092] Furthermore, there is also an advantage in the efficiency of removing non-crushable materials in crushers 10, since the system for removing non-crushable materials of the present invention comprises, in its preferred configuration, a first robotic arm 5' equipped with a breaking mechanism 6 to break the non-crushable material and a second robotic arm 5" equipped with a handling mechanism 7 to handle and remove the non-crushable material from inside the crusher 10, avoiding damage due to the presence of this non-crushable material.

[0092]

[0093] Finally, there are also safety advantages in removing non-crushable materials in crushers 10, since the system for removing non-crushable materials of the present invention is installed directly in the feed opening of the crusher and comprises protective grids 3" to prevent the projection of materials during the breaking of non-crushable materials out of the crusher 10, ensuring the safety of equipment and employees near the crusher 10.

[0093]

[0094] Therefore, the present invention mitigates the problems inherent in this activity in the state of the art, in addition to promoting improvements in efficiency, productivity and safety, as explained above, constituting a new and effective system and method.

[0094]

[0095] Thus, although only some embodiments of the present invention have been shown, it will be understood that various omissions, substitutions, and alterations may be made by a person skilled in the art, without departing from the spirit and scope of the present invention. The embodiments described should be considered in all respects only as illustrative and not restrictive.

[0095]

[0096] It is expressly provided that all combinations of elements that perform the same function substantially in the same way to achieve the same results are within the scope of the present invention. Substitutions of elements from one described embodiment for another are also fully intended and contemplated.

[0096]

[0097] It should be noted that the drawings are not necessarily to scale and are merely conceptual in nature. The intent of the invention proposed by this application may therefore be limited, as indicated by the scope of the appended claims.

Claims

CLAIMS 1. SYSTEM FOR REMOVING NON-CRUSHABLE MATERIALS IN CRUSHERS (10), characterized in that it comprises: a base (1) comprising a central structure (2) having an upper surface (2') and a lower surface (2") and two lateral structures (3), each pivotally fixed to a lateral end of the central structure (2); at least one robotic arm fixed to the lower surface (2") of the central structure (2) of the base (1); a crushing mechanism (6) attachable to the robotic arm and configured to perform the crushing of non-crushing material; a handling mechanism (7) also attachable to the robotic arm and configured to perform the handling of non-crushing material; and a control system configured to control the components of the system for removing non-crushing materials.

2. SYSTEM, according to claim 1, characterized in that each side structure (3) comprises at least two fixing bases (3') arranged one at each distal end of the side structure (3), each fixing base (3') comprising a magnetic shoe (9), the magnetic shoe (9) being configured to be disposed in contact with a jaw (11) of the crusher (10) and to fix the base (1) to the crusher inlet opening (10).

3. SYSTEM, according to claim 2, characterized in that the side structures (3) comprise protective grids (3") pivotally fixed in the space defined between the fixing bases (3') of the side structure (3) of the base (1).

4. SYSTEM, according to claim 3, characterized in that the side structures (3) of the base (1) comprise a rotary motion relative to the central structure (2) of the base (1) to define a closed position, in which the side structures (3) are brought close to the lower surface (2") of the central structure (2), and an open position, in which the side structures (3) are linearly arranged relative to the central structure (2).

5. SYSTEM, according to claim 4, characterized in that the upper surface (2') of the central structure (2) is configured to be associated with a lifting device (14) for lifting the system for removing non-crushable materials in crushers (10).

6. SYSTEM, according to claim 5, characterized in that it comprises two robotic arms fixed to the lower surface (2") of the central structure (2) of the base (1), a first robotic arm (5') with the associated breaking mechanism (6) at its free end and a second robotic arm (5") with the associated manipulation mechanism (7) at its free end.

7. SYSTEM, according to claim 6, characterized in that the breaking mechanism (6) consists of an oxyflame lance having three degrees of freedom.

8. SYSTEM, according to claim 6, characterized in that the handling mechanism (7) consists of a hydraulic gripper.

9. SYSTEM, according to claim 1, characterized in that it comprises a plurality of cameras associated with the control system.

10. SYSTEM, according to claim 9, characterized in that the control system is operated remotely.

11. SYSTEM, according to claim 9, characterized in that the control system is operated autonomously.

12. METHOD FOR REMOVING NON-CRUSHABLE MATERIALS IN CRUSHERS (10), which makes use of the system for removing non-crushable materials as defined in any of claims 1 to 11, characterized in that it comprises the following steps: i. Installing the system for removing non-crushable materials in the feed opening of the crusher (10); ii. Breaking the non-crushable material inside the crusher (10) by means of the crushing mechanism (6) associated with the robotic arm; iii. Remove the non-crushable material from inside the crusher (10) using the handling mechanism (7) associated with the robotic arm; and iv. Remove the system for removing non-crushable materials from the crusher (10).

13. METHOD, according to claim 12, characterized in that in step 1 the system for removing non-crushable materials is lifted by means of a lifting machine (14) associated with the upper surface (2') of the central structure (2) of the base (1) and installed at the opening of the crusher (10) by means of magnetic shoes (9) arranged in fixing bases (3') on its lateral structures (3) of the base (1) associated with jaws (11) of the crusher (10).

14. METHOD, according to claim 13, characterized in that the installation step i may be preceded by a transport step, in which the system for removing non-crushable materials in crushers (10) is arranged in a closed position and inserted inside a trailer (12) attachable to a truck, tractor or any motor vehicle.

15. METHOD, according to claim 12, characterized in that step ii is performed by means of a first robotic arm (5') equipped with the breaking mechanism (6) associated with its free end.

16. METHOD, according to claim 12, characterized in that step iii is performed by means of a second robotic arm (5") equipped with the manipulation mechanism (7) associated with its free end.

17. METHOD, according to claim 16, characterized in that step iii comprises using a basket (13) moved by means of the lifting equipment (14) inserted inside the crusher (10) while the second robotic arm (5") manipulates the non-crushable materials into the basket (13) by means of the handling mechanism (7) and subsequently the basket (13) is removed from inside the crusher (10) with the non-crushable material.

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