Robotic Mill Liner Handling for Safer Ore Grinding Maintenance
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Solution Overview
Problem
The existing methods for changing liners in ore grinding mills are time-consuming, hazardous for maintenance staff, and inefficient, with manual operations requiring extensive coordination and risking occupational safety due to the need for staff to enter the mill, leading to prolonged production halts and potential equipment damage.
Innovation Solution
A system comprising a robotic manipulator with a support structure, liner supply and movement system, artificial vision, and control system, enabling automated and precise liner removal and installation within the mill, reducing manual intervention and enhancing safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual operations are used for changing liners, then staff can position and guide liners, but maintenance time increases and occupational safety risks increase
Solution Approach 1:
The patent replaces manual mechanical operations with an automated robotic manipulator system that uses computer vision and automated control to perform liner removal, positioning, and installation, eliminating the need for staff to physically enter the mill while maintaining precise positioning capability
Solution Approach 2:
The system enables self-service operation where the robotic manipulator autonomously performs all liner changing operations including detection, removal, positioning, and installation without requiring human staff to be present inside the mill, thereby reducing both time and safety risks
2Ease of operation
If staff enter the mill to assist with liner positioning, then liner installation can be guided, but occupational safety risks increase
Solution Approach 1:
The patent replaces human staff with an automated robotic manipulator system equipped with computer vision capabilities that can detect, guide, and position liners automatically from outside the mill, eliminating occupational safety risks while maintaining installation guidance functionality
Solution Approach 2:
The robotic manipulator acts as an intermediary between the operator and the liner installation process, allowing precise control and guidance of liner positioning without requiring human staff to physically enter the hazardous mill environment
3Adaptability or versatility
If the mill is rotated multiple times for liner changing, then all inner regions can be accessed, but production time is reduced
Solution Approach 1:
The patent employs a dynamically adjustable robotic manipulator system with extended range of motion and multiple degrees of freedom that can access all inner regions of the mill without requiring rotation, allowing the mill to remain stationary and thereby reducing production halt time while maintaining full accessibility
4Productivity
If manual liner removal is performed, then liners can be extracted, but the process becomes time-consuming and labor-intensive
Solution Approach 1:
The patent replaces manual liner extraction operations with an automated robotic manipulator system that can rapidly detect, grip, remove, and transport liners using automated control and computer vision, significantly increasing productivity while reducing the overall liner changing duration
Solution Approach 2:
The robotic manipulator system performs liner extraction continuously and efficiently without the interruptions and coordination delays inherent in manual operations, maintaining continuous useful action throughout the removal process thereby reducing total changing time
Data Source
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AI summary
The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency to the method and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.