Robotic Panel Module Removal and Replacement in Ore Treatment Apparatus

Abstract

The specification discloses robotic apparatus for extraction of a worn treatment panel module from a treatment deck of ore material treatment apparatus without the need for work personnel entering the treatment apparatus, the robotic apparatus including a robotic support structure carried on transport means whereby the robotic support structure follows a course on the treatment deck, the robotic apparatus further including a treatment panel module handling mechanism connected to the robotic support structure for movement along a defined path of movement and first drive means for selectably moving the treatment panel module handling mechanism along the defined path of movement, the treatment panel module handling mechanism still further including tool means adapted to mount tool means cooperable at least with a treatment panel module intended to be removed from a selected treatment deck, the tool means being able to engage a panel module to lift it out of the treatment deck.

Claims

1. Robotic apparatus for extraction of a treatment panel module from a treatment deck of ore or quarry material treatment apparatus where the treatment deck includes a plurality of said treatment panel modules positioned in a side by side array secured to an underlying deck support structure, said robotic apparatus including: a robotic support structure; transport means for moving said robotic support structure, in use, on or over said treatment panel modules of a said treatment deck; drive means for actuating said transport means; and a treatment panel module handling mechanism including tool mounting means adapted, in use to mount tool means cooperable with a said treatment panel module intended to be removed from the treatment deck to enable releasing of a said treatment panel module from the underlying deck support structure, said treatment panel module handling mechanism further including lift means operable once a released said treatment panel module has been engaged by said tool means, said lift means is operable to lift the engaged said treatment panel module from said treatment deck.

2. (canceled)

3. Robotic apparatus according to claim 1 wherein said tool means includes releasable grip means to grip a said treatment panel module to be removed from the treatment deck.

4. Robotic apparatus according to claim 1 wherein said tool mounting means is connected to said robotic support structure for movement relative thereto along at least one path of movement, or said at least one path of movement includes two orthogonal movement directions.

5. (canceled)

6. Robotic apparatus according to claim 1, further including a first guide track means and a second guide track means, each being, in use, fixable to said treatment apparatus on opposed sides of a said treatment deck whereby said robotic support structure extends across and above said treatment deck, a respective said transport means being movable along said first and said second guide track means.

7. Robotic apparatus according to claim 1 wherein the tool means includes an extraction tool additionally cooperable with fixing means holding said treatment panel module intended to be removed to the underlying deck support structure, to release said fixing means from the underlying deck support structure.

8. (canceled)

9. Robotic apparatus according to claim 1, wherein said treatment panel module handling mechanism includes an extending arm structure connected to said robotic support structure at an inboard end and to said tool mounting means at an outboard end of said extending arm structure.

10. Robotic apparatus according to claim 6 wherein a first pivot joint structure connects said inboard end of said extending arm structure to said robotic support structure for selective movement about one or more pivot axes.

11. Robotic apparatus according to claim 7 wherein said first pivot joint structure is connected to said robotic support structure in a manner enabling said first pivot joint structure to be selectably raised or lowered relative to said robotic support structure.

12. Robotic apparatus according to claim 7 wherein a second pivot joint structure is provided between said tool mounting means and said outboard end of said extending arm structure.

13. Robotic apparatus according to claim 9 wherein said second pivot joint structure provides selective pivotal movement of said tool mounting means also about a third pivot axis extending in a general direction of said extending arm structure.

14. Robotic apparatus according to claim 7 wherein said extending arm structure includes at least two articulated arm members connected by a third pivot joint structure enabling relative selective movement of said articulated arm members about a fifth pivot axis disposed generally transverse to said extending arm structure.

15. (canceled)

16. Robotic apparatus according to claim 1 wherein said tool mounting means, or said tool means, is mounted to selectably move in a direction towards said robotic support structure and/or in a direction away from said robotic support structure, said tool means being capable of releasing a removed said treatment panel module held by said tool means into a storage zone in said robotic apparatus.

17. Robotic apparatus according to claim 12 wherein the storage zone also, in use, is configured to hold at least one replacement said treatment panel module.

18. Robotic apparatus according to claim 5 wherein replacement fixing element supply means is provided carried by said robotic support structure or by said tool mounting means, said replacement fixing element supply means carrying a plurality of replacement fixing elements forming said fixing means, said robotic apparatus further including at least one installation tool adapted, in use, to install a replacement said fixing element to secure a replacement said treatment panel module to the underlying deck support structure, the or each said installation tool being mounted to or mountable to said tool mounting means.

19. (canceled)

20. Robotic apparatus according to claim 14 wherein said tool means includes at least one installation tool adapted, in use, to install a replacement said fixing element to secure a replacement said treatment panel module to the underlying deck support structure, the or each said installation tool being mountable to said tool mounting means by removing the or each of said extraction tool(s) and mounting said installation tool in place of a said extraction tool.

21. Robotic apparatus according to claim 14 wherein a said installation tool and a said extraction tool are mounted to said tool mounting means in pairs in a manner permitting a respective one of each said pair of said installation tool and said extraction tool to be selectively moved to an operative position.

22. Robotic apparatus according to claim 1 wherein the treatment panel module handling mechanism is also configured to grip and hold a replacement said treatment panel module located in a storage zone of said robotic support structure, said replacement said treatment panel module gripped by said treatment panel module gripping mechanism being movable by said robotic apparatus to an installation position in said treatment deck.

23. Robotic apparatus according to claim 1 further including first scanning means carried by said robotic apparatus and positioned, in use, to scan a said treatment deck and to create scanned information data being indicative of wear levels on a respective said treatment panel modules and/or fastening means therefore, if provided.

24. Robotic apparatus according to claim 18 further including second scanning means carried by said robotic apparatus and positioned, in use, to scan a said treatment deck to create further scanned information data, said further scanned information data being indicative of at least one or more of position information data regarding one or more said treatment panel modules, positional information data for installation position(s) for fixing means intended to secure said treatment panel modules to the underlying deck support structure, and positional information data for fixing means, if provided, for securing said treatment panel modules to the underlying deck support structure.

25. (canceled)

26. Robotic apparatus according to claim 18, further including first control means positionable, in use, externally of the treatment deck on which the robotic apparatus is intended to operate, said first control means being adapted to receive said scanned information data and to provide control signals to second control means positioned on said robotic apparatus controlling operation of said robotic apparatus on said treatment deck based on said scanned information data.

27. (canceled)

28. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 shows perspectively, vibratory treatment apparatus of a typical configuration, including robotic apparatus for removing and replacing treatment panel modules from a treatment deck of the vibratory treatment apparatus;

[0032] FIG. 2 is a diagrammatic perspective view of the robotic apparatus shown in FIG. 1;

[0033] FIG. 3 is a diagrammatic perspective view of the robotic apparatus of FIG. 2 where the transport means is supported on opposed guide tracks;

[0034] FIG. 4 is a diagrammatic perspective view of the robotic apparatus showing same in a parked external position as shown in FIG. 1;

[0035] FIG. 5 perspectively illustrates the robotic apparatus in a position of use on a treatment deck;

[0036] FIG. 6 is a partial longitudinal sectional view of the ore treatment apparatus of FIG. 1 showing the robotic apparatus on the lower treatment deck; and

[0037] FIG. 7 is a diagrammatic perspective view of a further preferred embodiment of robotic apparatus according to the present disclosure.

DESCRIPTION OF PREFERRED EMBODIMENTS

[0038] Referring to FIG. 1, a typical ore treatment apparatus 10 is illustrated including two stacked treatment decks 14 and 15. The upper treatment deck 15 is positioned immediately above the lower treatment deck 14. Each of the treatment decks 14, 15 are constructed in a similar manner, consisting of a plurality of treatment panel modules 13 positioned in a side by side array and secured to an underlying support structure by securing pins 24. The underlying support structure includes transversely spaced support rails 25 running longitudinally along the treatment decks 14, 15. The support rails 25 are supported on cross support beams 70 (FIGS. 5, 6) secured to and extending between side walls 71 positioned on either side of the ore treatment apparatus 10. The ore treatment apparatus 10 may typically be of a vibratory type with operative vibrations being created by a vibration creating mechanism 73 to impose a desired vibration regime on the treatment decks 14, 15 in use. Other forms of vibration creating mechanisms might also be employed. The cross support beams 70 are shown with a square tubular profile although other configurations are possible. The cross support beams 70 also provide rigidity and strength to the construction of the ore treatment apparatus 10. Cross bracing beams 74 are also shown connected to and extending between the side walls 71 at a position above the upper treatment deck 15. The treatment panel modules 13 may typically have through flow apertures extending from their upper surfaces which together form an upwardly facing treatment surface 31, 32, to their lower surfaces. These apertures, particularly in differing treatment decks, may have variable sizes and possibly varied shapes to screen particulate ore material of predetermined sizes to a lower region. The lower region may be a lower treatment deck. Some treatment apparatus 10 may have treatment decks where the treatment panel modules 13 are of an impact type and do not include such through extending screening apertures.

[0039] As can be seen in FIGS. 1 and 6, the space 75 between the upwardly facing treatment surface 31 of the lower treatment deck 14 and the lowest extremity of the upper treatment deck 15 is quite limited. The space 76 between the upwardly facing treatment surface 32 of the upper treatment deck 15 and potential obstructions above the deck 15 such as the bracing beams 74 and the vibration creating mechanism 73 is also quite limited. It is within the spaces 75, 76, that robotic apparatus 11, as further described below, must operate.

[0040] While FIG. 1 shows one example of vibratory ore treatment apparatus 10 in which the robotic apparatus 11, can be used, it will be recognised by those skilled in this art that there are many different forms of such vibratory ore and quarry material treatment apparatus 10, on which the robotic apparatus 11 can be used. Some variations include that the treatment decks 14, 15 might be arranged generally horizontal, or inclined upwardly or downwardly, and further could be varied in number including one, two or three decks, or possibly more. The representation of one form of ore treatment apparatus 10 should therefore be seen as illustrative only and not limiting.

[0041] Ore or quarry material to be treated by vibratory ore treatment apparatus 10 would typically be fed to an infeed end 34 of the upper treatment deck 15 and would be moved along the upper treatment deck towards the opposed end 35. In the process of this movement by way of vibrations imposed by vibration creating mechanism 73, ore particles of a certain size would be screened through the upper treatment deck 15 to be deposited on the lower treatment deck 14 where a secondary screening process may be undertaken.

[0042] As shown in FIG. 1, the robotic apparatus 11 is positioned in a non-use position on a support tray 12 or similar located adjacent the discharge region from the ore treatment apparatus 10 where a chute access port may be located. Conveniently, the robotic apparatus 11 can be introduced onto the upwardly facing surface 32 of the upper treatment deck 15 either by transfer means positioned between the support tray 12 and the respective treatment decks 14, 15, or alternatively providing a drivable transport means to a position where the robotic apparatus 10 can move directly selectively onto the upwardly facing surfaces 31 or 32. Externally located control means 36 maybe located in a stationary position outwardly of the vibratory ore treatment apparatus 10 and be capable of transmitting command instructions to the robotic apparatus 11, either via wireless means or by an umbilical command cord directly connecting with the robotic apparatus 11. The operator 37 may also have a mobile control device 38 that may convey command instructions either directly to the robotic apparatus 11 or via the stationary control means 36. Again transmission connections may be via wireless means or by umbilical cord means. Storage means 39 is provided for new/used treatment panel modules 13. The storage means 39 may further include feed means for feeding and delivering treatment panel modules 13 to the storage area of the support frame 17 of the robotic apparatus 11.

[0043] The robotic apparatus 11 may be best seen in FIG. 2 and may include a robotic support structure 17 having a support frame carried by drivable transport means 18, 19 located at either end. It is also anticipated that, in some instances transport means might be provided intermediate either end. The transport means 18, 19 is required to carry the support frame 17 for the robotic apparatus 11 across the upwardly facing surfaces 31, 32 of the respective treatment decks 14, 15. It will be recognised that the surfaces 31, 32 of the treatment decks 14, 15 could be quite uneven caused by many factors including screen apertures, when they exist, possible remains of projections on the surfaces, and of course wear conditions after a period of use. The transport means 18, 19 needs therefore to cope with such potential uneven surface conditions, and may be arrangements of any number of wheels 20 including two at either end as illustrated, endless transport tracks, or any other possible transport system for carrying the support frame 17 over the surfaces 31, 32. Suitable drive means (not illustrated) is provided to drive the transport means 18, 19 under command instructions from the operator 37 via the control means 36 and/or the mobile control device 38. It is further desirable that the robotic apparatus 11 be steerable such that it can be directed to follow a desired course on the surfaces 31 or 32 by the operator 37 or follow a predefined course of movement. In this regard, steering means (not illustrated) might be provided operably associated with the transport means 18, 19. Preferably, the transport means 18 or 19 may be drivable independently of one another, either in a forward direction or a rearward direction, or both in a forward or rearward direction.

[0044] The support frame 17 includes a storage zone 40 onto which replacement new treatment panel modules 13 are loaded in a predetermined array at the commencement of a work period. FIG. 2 illustrates such treatment panel modules 13 positioned in a single layer, however, it is believed possible that the treatment panel modules 13 could be arranged in stacked multiple layers although the overall height of the robotic apparatus 11 including any such carried treatment panel modules 13 needs to be low enough to work within the spaces 75, 76. The overall height of the robotic apparatus 11 should be no greater than 500 mm, preferably less than 300 mm.

[0045] The robotic apparatus 11 includes a treatment panel module handling mechanism 41 which is connected to the support frame 17 to move along guide tracks 42, 43 on opposed sides of the storage zone 40. Drive means (not shown) to selectably move the treatment panel module handling mechanism 41 along the guide tracks 42, 43 in the direction (back and forward) indicated by arrow 44 is provided activated by command signals issued by the operator 37 via the control means 36 and/or the mobile control device 38.

[0046] The treatment panel module handling mechanism 41 includes storage cartridge means 46 that is arranged to store new and used fixing devices for securing the treatment panel modules 13 to the underlying support frame rails 25. The fixing devices may be securing pins or any other form of fixing element discussed earlier in this specification. The cartridge means 46 may be configured to feed, on receipt of command instructions from the operator 37, a new fixing device to a position of use when a replacement treatment panel module 13 is being installed, and to grip and move a used such fixing device removed from a worn treatment panel module 13 being removed to a storage zone. Separate units of the storage cartridge means 46 might be provided on either side of the treatment panel module handling mechanism 41. Associated with the or each of the storage cartridge means 46 is a fixing device insertion tool or extraction tool 47. The insertion/extraction tool 47 may be mounted to a portion 48 of the treatment panel module handling mechanism 41 that extends beyond the side edge of the support frame 17 to allow the insertions/extraction tool 47 to have access to fixing device insertion position on a treatment deck 14 or 15, or to an installed fixing device on the deck 14 or 15 to allow its selective extraction.

[0047] The treatment panel module handling mechanism 41 is mounted for sliding or other translational movement relative to the support frame 17 and further includes a tool mounting means 49 that also extends beyond a side edge of the support frame 17. The tool mounting means may include a body part 50 that is movable along guide tracks 42, 43, or in an alternative, can have a slide plate 54 allowing selective movement in the direction of arrows 45. The tool mounting means 49 may include a variety of tool means including, as illustrated, a gripper support plate 51 or similar structure mounted from the slide plate 54 or body part 50 that includes gripper element means to attach/release a treatment panel module 13 during either an installation or an extraction process. The gripper element means may be suction gripping elements, physical or mechanical gripping and release elements or any other suitable arrangements operated electrically wholly or in part. The gripper support plate 51 is selectably movably mounted by lift means (not shown) relative to the body part 50 or the slide plate 54, to move at least in an up or down direction. The gripper support plate 51 is preferably also mounted to achieve at least limited selective movement side to side, forward and back, rotation, and tilting, relative to the decks 14 or 15. This assists with extraction of, and installation of, treatment panel modules 13 from a treatment deck 14 and 15. Still further it is necessary for treatment panel modules 13 to be bodily moved from or to the storage zone 40 on the support frame 17 during installation or extraction processes on the decks 14 or 15. This means that the gripper support plate 51 needs to be movably mounted to move in the direction of arrow 45 either by the gripper support plate 51 moving relative to the slide plate 54 or by the tool mounting means 49 moving relative to the body part 50.

[0048] The tool mounting means 49 may further carry scanning means 52 that may include camera means or any other suitable scanner device(s) that permit observation of treatment panel modules 13 installed on the treatment decks 14 or 15 and any fixing elements for such treatment panel modules 13. Any established images or scanned data material is transmitted, preferably wirelessly, to the control means 36 and/or the mobile control device 38. In a possible alternative, but less preferred embodiment, umbilical cord or cords can be provided to transfer images or scanned material data to the control means 36 and/or the mobile control device 38.

[0049] The scanning means 52 also enables observation of installation processes during installation of a replacement treatment panel module 13. In a possible alternative preferred arrangement, the scanning means 52 might also include means for scanning wear levels on the treatment decks 14 or 15. Cleaning fluid delivery means 53 may be provided to spray cleaning fluid such as water on either the treatment decks 14 or 15 to remove as much debris as possible therefrom prior to undertaking extraction or installation processes, or alternatively to clean away remaining debris from the underlying framework including the module supporting rails 25 to assist with installation of a replacement treatment panel module 13. The cleaning fluid delivery means 53 may include one or more controllable spray nozzles (not shown) to direct the cleaning fluid selectably where desired by the operator 37 via the control means 36 and/or the control device 38. Cleaning fluid (such as water) might be supplied by a suitable flexible hose or similar to the delivery means 53.

[0050] In one preferred embodiment, the robotic apparatus 11 may have a length as illustrated approximating but just short of the transverse width dimension of each of the treatment decks 14, 15, such that the robotic apparatus 11 can be moved on the transport means 18, 19 up or down the length of the decks 14, 15. In so doing, the treatment panel module handling mechanism 41 can be selectably moved transversely across the treatment decks 14 or 15. This, however, is not essential. The length of the frame structure 17 of the robotic apparatus 11 might be shorter than that illustrated in the annexed drawings. With this preferred embodiment the transport means 18, 19 might be selectably operated to effectively rotate the frame structure 17 on the particular treatment deck 14 or 15 such that the frame structure 17 is disposed extending in a longitudinal direction of the deck 14 or 15, that is, at 90 to the embodiment illustrated in the annexed drawings. In this configuration, the frame structure 17 can be moved transversely across the deck 14 or 15. This provides improved access to the treatment panel modules positioned adjacent the side walls 71 of the ore treatment apparatus 10.

[0051] FIG. 3 illustrates a further preferred embodiment similar to that shown in FIG. 2 where the same reference numerals indicate features similar to those described in the foregoing with reference to FIG. 2. The difference with this embodiment is that the transport means 18, 19 are not intended to contact the upwardly facing surfaces 31, 32 of the treatment decks 14, 15. In this embodiment the transport means 18, 19 are positioned for translational movement along guide tracks 100, 101 positioned on either side of the treatment decks 14, 15. The guide tracks 100,101 may be mounted to inwardly facing surfaces or structures of the side walls 71 or to any other structural part of the treatment apparatus 10 whereby the frame structure 17 extends transversely across and above the upwardly facing surfaces 31, 32. The guide tracks 100, 101 may be configured to maintain a constant distance or spacing from the surfaces 31, 32 as the robotic apparatus 11 moves along the guide tracks 100, 101. The guide tracks 100, 101 may be L or C (channel) shaped cross-section or may have other configurations appropriate to the nature of the transport means 18, 19. In a preferred embodiment, the guide tracks 100, 101 and/or the cooperating transport means 18, 19 may be configured to restrain movement of the robotic apparatus 11 vertically, that is in an upwards direction as well as a downwards direction. The transport means 18, 19 may include a wheel or wheels, crawler tracks or gear rack and pinion mechanisms or any combination thereof. An advantage of having the robotic apparatus 11 not directly contact the treatment deck or similar, is that movement on uneven worn surfaces is avoided thereby providing better assessment of wear deterioration of the treatment deck, and more accurate location assessment of parts of the treatment deck including panel modules and fasteners therefore.

[0052] With the preferred embodiment shown in FIG. 3, like FIG. 2, it is possible to selectively locate the treatment panel module handling mechanism sequentially over either selected panel modules 13 or over all panel modules in sequence as may be desired.

[0053] FIG. 7 illustrates perspectively in diagrammatic form a second preferred form of robotic apparatus 60 for carrying out tasks similar to the robotic apparatus 11 shown in FIGS. 1 to 5. This embodiment might operate on a treatment deck 14, 15 or above same as described earlier with reference to FIG. 3. In this embodiment, like features have been given the same reference numbers. As with the earlier described embodiment, the robotic apparatus 60 includes a robotic support structure 17 having a support frame carried by drivable transport means 18, 19. Any variations described with reference to the earlier embodiment might, if appropriate, also be used with the embodiment shown in FIG. 6. In FIG. 6, the robotic support structure 17 includes outer end located storage zones 40a and 40b to hold either replacement treatment panel modules 13 or worn treatment panel modules 13 extracted from the treatment deck. As illustrated, the treatment panel modules 13 can be stacked in storage zones 40a and 40b. The central zone 61 of the robotic support structure 17 is formed in a U-shaped configuration with the bare wall 62 of the U-configuration being disposed in an upright disposition, carrying guide tracks 63, 64. A robotic arm mounting plate 65 is provided mounted to the robotic arm mounting plate 65 via a first pivot joint structure 67 located at an inboard end of the robotic extending arm structure 66.

[0054] The robotic extending arm structure 66, in the preferred embodiment illustrated has three arm members 68, 69 and 80, with adjacent pairs joined by respective third pivot joint structures 81a, 81b. At an outboard end of the robotic extending arm structure 66 is a tool mounting means 82 selectably connectable with a variety of tool means 84 carried by the robotic support structure 17 as further described in the following. A second pivot joint structure 83 is provided between the outboard end of the robotic extending arm structure 66 and the tool mounting means 82. The first, second and third pivot joint structures 67, 81a and 81b, may have multiple degrees of selectable pivotal movement under control of a computer based control system guided, at least in part, by scanned data information relating to scanned treatment deck related conditions. The first pivot joint structure 67 might provide for pivotal movement about a first axis perpendicular to the robotic 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 might be constructed to have two or three pivot axis disposed generally perpendicular to one another. The third pivot axes 81a, 81b might have on or multiple pivot axes. Conveniently, any form of mechanism is provided to allow for selective movement of the respective first, second or third pivot joint structures 67, 83, 81a and 81b with control line means 85 enabling control signals and power supply as required to the various tool means 84. Power may be supplied from an external power supply with an umbilical supply line (not shown) with control means also being provided (also not shown) for controlling the robotic arm structure 66.

[0055] The tool means 84 include a scanning unit 86 stored on the robotic support structure 17 and when required for use, can be connected to the tool mounting means 82 via a mounting fitting 87. The robotic extending arm structure 66 can then move the scanning unit 86 to a position of use capable of scanning any required aspect of the treatment deck including treatment panel modules 13 and fastening devices therefor. The scanning unit 86 can be moved over the treatment deck by movement of the robotic apparatus 60 on the transport means 18, 19 or by movement of the robotic extending arm structure 66. The tool means 84 might also include a gripper mechanism 88 that includes releasable gripper elements to enable a worn treatment panel module 13 to be held, lifted out of its use position in the treatment deck, and moved to the storage zone 40a/40b. The gripper mechanism 88 can be connected with the mounting fitting 87 by moving the robotic extending arm structure to the storage position for the gripper mechanism 88 on the robotic support structure 17. A replacement treatment panel module 13 can be picked up by the grip mechanism 88 from the storage zones 40a, 40b and position in the treatment deck.

[0056] The tool means 84 might also include a variety of other items including fixing element extracting tool means, fixing element installing means, cleaning fluid (water) supply nozzle means and means for supplying cleaning fluid thereto. Storage means 89 for replacement fixing elements and for storing extracted used fixing elements might also be carried on the robotic support structure 17. Any feature or aspect described with reference to the embodiment shown in FIGS. 1 to 6 might also be employed in the embodiment of FIG. 7.

[0057] It will be understood that any terms such as comprises, comprising, includes and/or including when used in this specification, specify the presence of stated features, items, steps, operations, elements and/or components, but do not preclude the presence of or addition of one or more other features, items, steps, operations, elements, components and/or groups thereof. Throughout this specification, references is made to treatment deck(s) and parts thereof including treatment panel modules and fasteners therefore releasably securing the panel modules to underlying support structures. Such treatment deck(s) are often found in vibrating screening apparatus for mineral processing and handling in mining and quarrying activities; however, the terms treatment deck or decks is intended to also relate to any apparatus or equipment used in comparable use applications.

[0058] It will be further appreciated by those skilled in this art, that many variations and modifications to the features, configurations and arrangements of the mobile robotic apparatus 11 or 60 disclosed herein might be made within the scope of the accompanying claims and are considered part of this disclosure.